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publish rtab point cloud from rviz

Hey! I am currently following this tutorial on my turtlebot: http://wiki.ros.org/rtabmap_ros#Nodes Therefore I started turtlebot and rviz like this: $ roslaunch turtlebot_bringup minimal.launch $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch It all works fine but I don't know how to export the point cloud I created. My goal is to have a list of XYZ coordinates from all points. Anyone got any ideas? EDIT: I tried to run rosservice call /rtabmap/get_map 1 0 0 but that does nothing... and when I click the get map option in RVIZ it is first trying to call get_map and then I get the error: ![screenshot rviz](/upfiles/14387861551199088.png) rtab/get_map is in the namespace though. Here is part of my rosservice list: /rtabmap/backup /rtabmap/cancel_goal /rtabmap/get_grid_map /rtabmap/get_map /rtabmap/get_proj_map /rtabmap/list_labels /rtabmap/octomap_binary /rtabmap/octomap_full /rtabmap/pause /rtabmap/publish_map /rtabmap/reset /rtabmap/resume /rtabmap/rtabmap/get_loggers /rtabmap/rtabmap/set_logger_level /rtabmap/set_goal /rtabmap/set_label /rtabmap/set_mode_localization /rtabmap/set_mode_mapping /rtabmap/trigger_new_map /rtabmap/update_parameters /rviz/get_loggers /rviz/reload_shaders /rviz/set_logger_level /turtlebot/invite /turtlebot/list_rapps /turtlebot/platform_info /turtlebot/start_rapp /turtlebot/stop_rapp /turtlebot_laptop_battery/get_loggers /turtlebot_laptop_battery/set_logger_level

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