Some questions about rgbdslam v2

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We want to get the global map from rgbdslam v2 online, so that we can control the mobile robot navigate in our lab and avoid the obstacle autonomously. I try some methods, but I failed. such as get the batch_clouds and show in octomap_server, It is too slowly and unstale. I want to know can I get the pointcloud of the map just the same as the GUI viewed in realtime? I mean not saving the clouds to my file but getting the clouds in my program, for example, subscribing a topic.

What' more, I have read felix's paper and I found that SIFTGPU is much better that other algorithms. I want to know how to use SIFTGPU and I have install cuda on my computer.

Thanks a lot!