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Regarding the experimental stack of the octomap_server, I found there is a big problem:

The Makefile downloads a tarball directly from the computer of the author of the color-octomaps. However, he has recently graduated and left the university, thus the computer with the tarball has been shut down...

The newest stable release of the octomapping library (not the ros package though) should support colored octomaps now, so somehow it should be possible to transition to that release. I'll have a look into it, but it could take a while.

Sorry for the inconvenience.

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