Port of the ROS1 octomap server for ROS2.0
Firstly make sure you have octomap installed on your system
Next, clone this ros package to the appropriate ros2 workspace
$ git clone https://github.com/iKrishneel/octomap_server2.gitClone the dependency repositories to the workspace
# will clone octomap_msgs to the workspace
$ vcs import . < deps.reposUse colcon to build the workspace
$ colcon build --symlink-install --packages-select octomap_msgs octomap_server2Launch the node with appropriate input on topic cloud_in
$ ros2 launch octomap_server2 octomap_server_launch.py