Based on OctoMap 1.0, a new version of the octomap_mapping stack
(http://www.ros.org/wiki/octomap_mapping) was also just released for
cturtle, diamondback, and unstable. Debian packages will appear in the
Ubuntu ROS repositories soon, diamondback builds should be already
available in the shadow-fixed repository for those willing to try them
out. New in the octomap_mapping stack is the octomap_ros package to ease
the integration of OctoMap with ROS / PCL.
Your friendly neighborhood OctoMap team (Kai and Armin)