How to generate an Octomap from a Point Cloud with Hydro?

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Thanks for the reply. I compiled the "hydro-devel" branch of octomap_mapping. However, I created a test node for reading the point cloud file and publish it on the "cloud_in" topic, but the "octomap_server" don't receive the message, it seems that the "tf" roscore feature is working like a filter. It's possible that this is caused by the message's header? If yes, How can I set the msg's header in order to get it seen by the octomap_server node? Thanks again.

If you just want to convert a PCD file to octree, then it may be easier to write a short node that uses the OctoMap API directly. Simply loop through the end points, create a PointCloud out of it and insert it into the octree (see http://octomap.github.io/octomap/doc/).

For octomap_server you need a valid TF tree to the sensor frame (header of your pointcloud) from the given map frame.