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Hi Bunberra,

the current rgbdslam_v2 uses the octomap library and can compute it internally. You can visualize it in rgbdslam's GUI or save it. You can visualize the saved file with octomap's viewer octovis, or by loading it on the octomap_server (see this answer).

The use of octomap_server to accumulate the point clouds is therefore not required anymore. If you still want to see the file, I found this one in the history of above repository. However, I strongly recommend the procedure as described in the above paragraph.