Octomap and OMPL

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Hi everyone，

I tried to use OMPL (RRT* algorithm) to achieve path planning for our own built UAV system. Our map construction and positioning are based on ORBSLAM and the entire environment is represented in octomap. So if I want to use OMPL I think I need to modify the ompl_interface package to set the octree pointer for the planner, right? I have checked the library, but I really have no idea how to write a interface to access Octomap direct to the OMPL class. Is there anyone who can give some advices or provide some reference? I just got in touch with OMPL, so the question may not be appropriate but I still hope to get help. Thank you