octomap_server: octomap_server - map server for the OctoMap 3D maps
octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format.
See octomap_saver on how to request or save a map file. A visualization of the occupied cells is sent as MarkerArray.
octomap_server is ...