How to get octomap to work in rViz: rosrun octomap_server octomap_server_node <FILENAME.bt> rosrun rviz rviz then, add MarkerArray topic to occupied_cells_viz_array

To build octomap from live kinect data roslaunch openni_launch openni.launch make edits in octomap_mapping.launch to set map frame name to: "frame_id" with value "camera_depth_frame" roslaunch octomap_server octomap_mapping.launch

#After starting openni using the command given above, open rviz. Then go to Add, then by topic camera/depth/points and add the PointCloud2 to get live data from the kinect.

##Using the Visual Odometry Packages

run roslaunch ccny_openni_launch openni.launch

Next, launch the visual odometry:

roslaunch ccny_rgbd vo+mapping.launch

then launch rviz.