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Refer this link https://octomap.github.io/. You can use either octomap through sensor_3d.yaml (sensor config yaml file in generated package of moveit) or you can use octomap server in launch file w.r.t. fixed frame. If your bot is fixedgo for octomap plugin through sensor_3d.yaml . Otherwise go for octomap server. Octomap will be published as marker array. Refer this also https://github.com/ros-planning/moveit_tutorials/blob/master/doc/perception_pipeline/perception_pipeline_tutorial.rst

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