How to take a Kinect and have a robot arm avoid obstacles using octomap

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I have beginner-level experience with ROS, but wish to make it so that this robot arm I have actively avoids obstacles in its path when carrying otu a program, such as finding and grabbing a bottle.

I have done some research in octomap and collision avoidance in ROS, but have not yet made a connection between the research and how I would go about doing the above.

Any help/pointing in the right direction would be greatly appreciated. Thank you.