octomap_ros provides conversion functions between ROS / PCL and OctoMap's native types. This enables a convenvient use of the octomap package in ROS.
octomap_ros provides conversion functions between ROS/PCL and OctoMap in conversions.h. It also provides a templated wrapper class octomap::OctomapROS<OctreeT> which does the converions for you. In most cases, the wrapper octomap::OcTreeROS should be what you are looking for if you want to use the default OctoMap OcTree in ROS, e.g. for occupancy mapping.
