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I have faced these problems many times. And when I face these problems, I would first run this command:

aptitude search octomap

then the Terminal will give me all of the packages that contained "octomap", and would tell me whether the package is installed, "p" means has not installed yet, and "i" means has already installed.

Then you can run the command "sudo apt-get install ..." to install the missing package.

And sorry for my poor English...