Example launch file for octomap_server mapping:
Listens to incoming PointCloud2 data and incrementally builds an octomap.
The data is sent out in different representations.
Copy this file into your workspace and adjust as needed, see
www.ros.org/wiki/octomap_server for details
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<param name="resolution" value="0.1" />
<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
<param name="frame_id" type="string" value="/map" />
<!-- maximum range to integrate (speedup!) -->
<param name="sensor_model/max_range" value="10" />
<!-- data source to integrate (PointCloud2) -->
<!-- <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
<remap from="cloud_in" to="cloud_in" />