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It sounds like octomap hasn't built properly - look in the bin folder of your octomap_server directory and there should be octomap_saver and octomap_server_node.
Do you need the experimental version? Have you just tried: sudo apt-get install ros-electric-octomap-mapping ros-electric-octomap-visualization ?
If you're using the launch files in rgbdslam you shouldn't need to alter the ones in the octomap stack itself. Cloud_in going to /rgbdslam/batch_clouds and frame_id as /map should be fine.
I found I had to add: < param name="base_frame_id" value="/openni_rgb_optical_frame" /> to the octomap server parameters or I got tf errors.
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