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look at the launchfile provided with octomap_server. You can set the pointcloud topic it should listen to and the TF frame that is the (fixed) world coordinate system. Use the "octomap_saver" to save the node to file, look at it with "octovis". There is no visualization of octomaps in rviz, but somehow you can send the occupied voxels as cube Markers. Don't know how though.

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