Create an Octomap with multiples vehicles

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I don't see how I can make octomap_server suscribes to multiple pointclouds and transforms. Well, when I add a group inside my launch file (<group ns="vehi0">).

octomap_server subscribes to only a single topic. So even if you have multiple vehicles outputting point clouds, they have to be fed in to the same input topic 'cloud_in'. So you have to provide this remapping.

When you put all the topics of one vehicle into a dedicated namespace you have to manually ensure the correct remapping from say /vehi0/cloud to cloud_in.

May be an alternative approach is to register or assemble the pointclouds from different vehicles into a single pointcloud and publishing this pointcloud to the cloud_in topic. This I believe should make things much efficient. Otherwise there could be too many raycasting operations in octomap_server that can make it quite slow.