How to construct a PlanningSceneWorld message in Moveit2

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Hi, i'm currently building an autonomous drone that can do indoor navigation, mapping, and localization with ROS 2 Foxy. For the navigation stack, i chose to use Moveit2 since it has 3d planning and navigation. But since i was already using RTAB-Map for SLAM, i wanted to utilize the octomap published by it to update the planning scene in Moveit2. I saw in the documentation that i can do this by publishing octomap updates using a PlanningSceneWorld message to the /planning_scene_world topic (link). In the message definition i notice that it was using octomap_msgs/OctomapWithPose to feed outside octomap update, and i can't seem to find a way on how to construct this message using the provided octomap from RTAB-Map. So my question is:

1. what should be the frame in the header of octomap_msgs/OctomapWithPose if i already have a map -> odom -> base_link transformation
2. how to get the pose information of the octomap generated by RTAB-Map for the pose field in octomap_msgs/OctomapWithPose