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Take a look at the 3d_navigation stack, that looks one of the few things that includes a planner and uses Octomap. Note that it's got "unreleased" and "experimental" notes on the wiki pages, so whether it will work or not at any given time, not sure.

In order to find other packages that might be useful, I suggest you take a look at the "Used by" link for the Octomap stack and it's individual packages (it's how I found 3d_navigation).