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You figured the solution for your second goal out: Set ground_truth_frame_name.

However, using rgbdslam for registering clouds with known transformations makes no sense. Just use the known transformations! If you want an octomap, you can do this by using octomap server directly. E.g., if you publish your ground truth as a tf from /map to /ground_truth_kinect, make sure you publish a tf from the latter to /openni_link and set octomap's frame_id to /map.