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I got the exact problem and here is what I did to resolve it on ros kinetic:

Run (to install ros octomap packages): sudo apt-get install ros-kinetic-octomap ros-kinetic-octomap-mapping ros-kinetic-octomap-msgs ros-kinetic-octomap-ros ros-kinetic-octomap-rviz-plugins ros-kinetic-octomap-server
Rebuild your workspace (i.e catkin_make)

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