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The octomap_server package takes care of this conversion. You just have to launch it telling which topic is the pointcloud topic. Usually, the default topic will be OK. Then, just load the corresponding display in RViz and you should see the voxels.

The octomap_server ~~package~~ package takes care of this conversion. You just have to launch it telling which topic is the pointcloud topic. Usually, the default topic will be OK. Then, just load the corresponding display in RViz and you should see the voxels.

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