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Your launch file should work. I was able to do 3D mapping using the sample launch file in the octomap_server. Try to set the Target frame as:/camera_depth_frame to convert the camera_depth_optical_frame of kinect to camera_depth_frame.

Also if you are not getting the point cloud. Add the octomap_point_cloud when choosing the pointcloud2.

The odometry of turtlebot is very poor. So, do not expect to get very pretty and accurate 3D maps.