I have created a 2D map with gmapping, that is very accurate even if my odometry data have drift for long periods. If I try to achieve the same map with octomap, I obtain good results, but because of the odometry errors, some wall are seen as "doubled", "overridden" or "tilted".

I would like to attach the octomap to the 2D map generated with gmapping, so that the 3D wall can adjust its position on the 2D wall found with octomap. Do you think it is possible?!