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Apparently you are using ROS electric, with the trunk of octomap_mapping from SVN. I just recently changed the trunk to build against fuerte, and that requires an "octomap" system package as rosdep (ros-fuerte-octomap).

Just use the electric branch of octomap:

svn co http://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping-electric/ octomap_mapping

or the bre-built binary packages as joq suggested. Alternatively, you can also upgrade to the latest ROS fuerte.

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