Frames are inconsistent between Gazebo and Rviz while using Octomap.

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Hello everyone, I have a question with two parts. I didn't ask them as seperate questions because I thought they might be related somehow.

1. I am trying to do mapping with Octomap but for some reason camera frame seems to be inconsistent. It is looking upwards. I tried different tf's but couldn't make it right.

   1. Second one is, lidar data seems to come okay but markerarray data is not being received, despite markerarray maps something.

Any help is appreciated, thank you very much.