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I was looking on the package octomap_server but I don't think that this is the right one for this application

I don't see any problem with the use of octomap_server with multiple vehicles. Any reasons for your thoughts?

Futhermore, when I use this package with a vehicle inside of a group, it doesn't work anymore even if the topic path is still right.

I do not understand. What doesn't work? And what do you mean by inside of a group?