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There are multiple ways to do that and it depends on your setup. I assume for you it's probably most easy to call the get_planning_scene ROS service offered by move_group (set the OCTOMAP bit in the components bit field to ask for the octomap).

Then, if you want to convert the octomap message to an object of liboctomap, have a look at the conversions.h header in the octomap_msgs package.

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