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Jep31, I believe your problems with not working remappings is due to not passing the node handle to the OctomapServer class on contruction.

I have also created a nodelet implementation of the octomap server class (the code is very similar to yours) and sent in the patch here on Googlecode

Besides adding the nodelet itself, this patch also modifies the OctomapServer class, so that an instance uses the node handle of the nodelet. This should enable the parameter (e.g. frame_id -> error: "MessageFilter [target=/map ]: Dropped 100.00% of messages ...") and topic remappings (point cloud input / collision map output).