Elevation map in Rviz [closed]

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Hi all,

My robot has a kinect and a localisation system (not using ROS) and is running ROS Electric. The plan is to display an elevation map in Rviz and at the same time to show my URDF model of my robot moving on it.

I'm wondering which package should I use to build the elevation map of my terrain. I could show the point cloud but I think showing an elevation map will be nicer, a smooth elevation map of the terrain looks way better than a point cloud. There is also the question about building it online to have an almost-dynamic map (because rocks can be moved before and after the robot move) or to have a static map built offline.

I'm not sure if I should try to use the navigation stack or the gmapping.

Thank you for your advices

Brioche