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To launch octomap_server add the following to your launch file:

  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
                <param name="resolution" value="$(arg map_resolution)" />
                <param name="frame_id" type="string" value="map" />
                <param name="sensor_model/hit" value="0.8" />
                <param name="sensor_model/miss" value="0.3" />
                <param name="sensor_model/max_range" value="20.0" />
                <param name="occupancy_min_z" value="0.8" />
                <param name="occupancy_max_z" value="10.0" />
                <param name="pointcloud_min_z" value="0.8" />
                <param name="pointcloud_max_z" value="10.0" />
                <remap from="cloud_in" to="/depth/points" />
  </node>

Here you can find all the parameters, topics and services related to octomap_server, set it to your needs.