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I've checked it and it is a bug in rgbdslam. The periodic broadcaster sends a transform base->map, but when the clouds are sent (and with them the transforms) the transform goes map->base. I fixed that in the repository, so please update and rebuild.

To create octomaps, I would recommend using the internal function now. In the GUI use Data->Save octomap or use the service call: rosservice call /rgbdslam/ros_ui_s save_octomap filename.ot

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