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@ZiyangLI If you only want map reconstruction using kinect rgbdslam alone does that, you can add an octomap_server connecting the output topic of rgbdslma to the input of octomap_server if you want a queryable map. But if you have in mind of doing some planning with the map switch to MoveIT, it's a complete framework for path planning that already implement map reconstruction with kinect. For example check out my work: http://www.youtube.com/watch?v=VlBQLbmc03g Code available in the description