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The code snippet I ended up to solve this is as follows. This uses ros3djs instead of ros2djs.

let viewer = new ROS3D.Viewer({
    divID : 'map',
    width : 600,
    height : 600,
    antialias : true,
    intensity : 1.0,
    cameraPose : {x : -1, y : 0, z : 20},
    displayPanAndZoomFrame : true
});

let tfClient = new ROSLIB.TFClient({
    ros : this.ros,
    angularThres : 0.01,
    transThres : 0.01,
    rate : 10.0,
    fixedFrame : '/map'
});

let mapClient = new ROS3D.OccupancyGridClient({
    ros : this.ros,
    rootObject : viewer.scene,
    continuous : true
});