Creating Octomap with MoveIt

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I am trying to implement path planning for a quadrotor with moveIt. I added perception to moveIt using kinect sensor topic. When I add motion planning plugin in rviz, at that moment I see the octomap created from kinect point cloud. But when I move the quadrotor, the octomap is not updated and only the initial map remains all the time. I have set the fixed frame as 'nav' for octomap generation. Any suggestions please.

I could not insert the image, so I have given a link to the image, http://i.imgsafe.org/b2bc4bf.png

Green is the initial pose, Red is the position I have moved the quadrotor to(but octomap is not updated)