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Is there a reason you install octomap_mapping from source, and not the binary packages?

You can install them pre-compiled with all dependencies by running sudo apt-get install ros-fuerte-octomap-mapping (fuerte) or sudo apt-get install ros-groovy-octomap-mapping (groovy).

It seems to me that you are either missing a dependency (octomap_msgs) in your ROS_PACKAGE_PATH, or mixing different ROS versions. OctomapBinary.h only exists for fuerte.

If you need a source compile, then you also need to manually download and compile the dependencies, most notably the packages octomap_ros and octomap_msgs. Fuerte versions are at http://alufr-ros-pkg.googlecode.com/svn/trunk/octomap_stacks/ and Groovy versions here: https://github.com/OctoMap/octomap_msgs https://github.com/OctoMap/octomap_ros