Rtabmap_ros built with octomap

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How can I make possible for Rtabmap_ros to work with octomap. I see in the documentation that I need to build rtabmap_ros with octomap, but I don't know how to this...

I tried putting this in the CMakeLists.txt:

find_package(octomap_msgs) 
find_package(octomap REQUIRED) 
include_directories(${OCTOMAP_INCLUDE_DIRS}) 
link_libraries(${OCTOMAP_LIBRARIES})

And this in the package.xml:

<build_depend>octomap</build_depend>
<build_depend>octomap_msgs</build_depend>
<exec_depend>octomap</exec_depend>
<exec_depend>octomap_msgs</exec_depend>

But still doesn't work.