sudo apt-get install ros-indigo-octomap-ros 
sudo apt-get install ros-indigo-octomap-msgs 
sudo apt-get install ros-indigo-octomap-server
sudo apt-get install ros-indigo-octomap-rviz-plugins

roslaunch renbo_s penguin_nav_sim.launch
rosrun octomap_test octomap_test 

rosrun octomap_test pub_pcl 
rosrun octomap_test octomap_test 

rosrun octomap_test pub_pcl 
roslaunch octomap_test octomap_server_test.launch

octovis data/geb079.bt
octovis sample.ot //can show color octomap

http://blog.csdn.net/crp997576280/article/details/74605766
http://www.cnblogs.com/gaoxiang12/p/5041142.html
https://github.com/gaoxiang12/octomap_tutor