SLAM for octomap mapping

edit

I am just simulating as I run the indoor_ slam_gazebo available with hector_quadrotor_`demo package by adding a kinect sensor to the quadrotor for localization .Now will running a octomap_server, like,

'rosrun octomap_server octomap_server_node'

generate the octomap? should rtabmap be used too?

hi stefan, as you have mentioned that you used hokuyo lidar to 2D map the environment using the hector_slam algorithm and then you have generated the octomap, my question is how have you combined the both results as shown in the video

I believe the way it works is that hector_mapping provides the transform between the /map and /odom frames, which then link all of the other parts. Octomap builds the map based on the /map frame, so as long as the transforms are right the 3D map should be built on the 2D occupancy grid.