Octomap full map generation issue

edit

Hi, So I am using octomap_server to generate a full map of an outdoors scene serving as input cloud a registered cloud from a SLAM which static frame is odom . My launch file is:

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server"> <remap from="cloud_in" to="/laser_cloud_surround"/> </node> </launch>

For some reason, I can only publish the first scan of octomap, which means the rest of the map is not publish afterwards. Any suggestions? Thanks, Bruno