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If you want to visualize an existing OctoMap file (.bt or .ot) just load it with "octomap_server filename.bt". You can then visualize the occupied voxels in RViz by adding a MarkerArray display and selecting the topic "occupied_cells_vis". The default frame is "map". However, as Felix mentioned, visualizing the file in "octovis" looks nicer and is more efficient.

If you want to accumulate laser scans "live", have a look at the commented launch file of octomap_server. You need to remap the "cloud_in" topic to your scan topic.

For API access to insert pointclouds, look at the code in octomap_ros.