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Currently you can run install and run Octomap indenpendently.

Steps: $ git clone git://github.com/OctoMap/octomap.git $cd octomap $mkdir build $cd build $cmake .. $make

Then you can find executable files in the octomap/bin

For instance, you can download the dataset from http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/

Then run $ ./octovis geb079_max50m.graph (the name of dataset)

Or you can also see the simple_example by running $./simple example

generating example map

performing some queries: occupancy probability at (0 0 0): 0.971 occupancy probability at (-1 -1 -1): 0.1192 occupancy probability at (1 1 1): is unknown

wrote example file simple_tree.bt

Then run $ ./octovis simple_tree.bt

To view the tree:)