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Solved. The problem of not seeing /rgbdslam/batch_clouds or /occupied_cells_vis_array was solved by this thread: http:// answers.ros.org/question/53228/rgbdslam-cannot-produce-octomap/#53511

The problem is solved by having to "send_file" or ctrl+M in RGBDSLAM view at each frame. Then toggle the topics in RVIZ to show your desired topic.

No solution was given to continuous map building by RGBDSLAM yet. Will be posting questions on this later.

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