very slow Octomap updating

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I am using iai_kinect2 package ( https://github.com/code-iai/iai_kinect2 ). I can visualize the environment and able to form the octomap as well . but octomap is very slow. The robot is not able to plan in the octomap. Please help me! how to update of octomap quickly and how should i neglect some parts in the octomap like it shows the some part of the robot as an obstcle thats why robot is not able to plan and excute its path in the octomap.