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In config/sensors_rgbd.yaml (file specified in launch/<robot>_moveit_sensor_manager.launch) replace

- sensor_type: point_cloud_sensor with

- sensor_plugin: occupancy_map_monitor/PointCloudOctoapUpdater

Hint from MoveIt Google Group (sorry not enough karma to publish links...)

Here my working sensors_rgbd.yaml

 sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /kinect/depth_registered/points
    max_range: 5.0
    frame_subsample: 1
    point_subsample: 1
    self_mask:
        min_sensor_dist: .8
        self_see_default_padding: .04
        self_see_default_scale: 1.0
        self_see_links:
            - name: katana_internal_controlbox_link 
            - name: katana_base_link
            - name: katana_motor1_pan_link
            - name: katana_motor2_lift_link
              padding: 0.06
            - name: katana_motor3_lift_link
              padding: 0.06
            - name: katana_motor4_lift_link
              padding: 0.06
            - name: katana_motor5_wrist_roll_link
              padding: 0.04
            - name: katana_gripper_link
              padding: 0.02
            - name: katana_l_finger_link
              padding: 0.02
            - name: katana_r_finger_link
              padding: 0.02
            - name: kurtana_baseplate_link
            - name: laser
            - name: kurtana_pole_link
            - name: kurtana_innerpole_stretch_link

In config/sensors_rgbd.yaml (file specified in launch/<robot>_moveit_sensor_manager.launch) replace

- sensor_type: point_cloud_sensor with

- sensor_plugin: occupancy_map_monitor/PointCloudOctoapUpdateroccupancy_map_monitor/PointCloudOctomapUpdater

Hint from MoveIt Google Group (sorry not enough karma to publish links...)

Here my working sensors_rgbd.yaml

 sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /kinect/depth_registered/points
    max_range: 5.0
    frame_subsample: 1
    point_subsample: 1
    self_mask:
        min_sensor_dist: .8
        self_see_default_padding: .04
        self_see_default_scale: 1.0
        self_see_links:
            - name: katana_internal_controlbox_link 
            - name: katana_base_link
            - name: katana_motor1_pan_link
            - name: katana_motor2_lift_link
              padding: 0.06
            - name: katana_motor3_lift_link
              padding: 0.06
            - name: katana_motor4_lift_link
              padding: 0.06
            - name: katana_motor5_wrist_roll_link
              padding: 0.04
            - name: katana_gripper_link
              padding: 0.02
            - name: katana_l_finger_link
              padding: 0.02
            - name: katana_r_finger_link
              padding: 0.02
            - name: kurtana_baseplate_link
            - name: laser
            - name: kurtana_pole_link
            - name: kurtana_innerpole_stretch_link