How to convert point cloud data to map using octomap?

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I have install that package, but I dont know what I must to launch...

Do you think the topic /camera/depth_registered/points is a good topic to create a map?

Try this out: https://github.com/OctoMap/octomap_ma... You will have to change the remap of the camera topic. I recommend you to go over the code of the packages you are about to use, to see examples, and their doc. Don't simply use them.

In my case I am doing: <node name="octomap_server" pkg="octomap_server" type="octomap_server_node"> <remap from="cloud_in" to="/camera/depth/points"/>

Ok one more question, when I am in Rviz, what kind of display must I visualize it in? and what topic must I put in Rviz I am not sure.

Thanks thanks and thanks

From the octomap_server page: "occupied_cells_vis_array (visualization_msgs/MarkerArray) All occupied voxels as "box" markers for visualization in RViz. Be sure to subscribe to the topic occupied_cells_vis in RViz!"

I execute these commands:

roslaunch octomap_server octomap_mapping
roslaunch openni_launch openni.launch
rosrun openni_camera openni_node
rosrun rviz rviz

And I add MarkerArray and MarkerArrayTopic I subscribe to occupied_cells_vis_array or occupied_cells_vis, and I see nothing

Just in case, run first roslaunch openni_launch openni.launch (with this you do not need to run openni_node) and then roslaunch octomap_server octomap_mapping. Check the name of the topics, as octomap_mapping launch file is listening to topic /narrow_stereo/points_filtered2

But openni publishes different topic names. You need to change that topic remap. Copy the launch file to a package of your catkin workspace and modify it according to your needs.