Best ros wrapper for 2D and 3D mapping?

edit

Hi Everyone,

I am requiring to build both 2D OGMs and 3D maps based on PointCloud2 data returned from a SICK MRS 6124. I have looked into octomap and cartographer and was thinking of using cartographer because it has 2D and 3D capability and is by Google? My concern however is from what I have read in their wiki is that it doesn't do live mapping? it only builds maps from bags? is this true and if so is octomap more useful? If using octomap, is there a way to convert it to a 2D OGM?

I am just searching for information and peoples experiences using these packages. I am just starting my research.

edit I have just found alot of people using rtabmap_ros however I am not using an RGBD camera, I am using a LIDAR that outputs a point cloud, would this package still work for me and is it recommended?

Thanks, Grant.