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As the name suggests, OctoSLAM performes mapping and localization though. In case you are only interested in mapping your laser scans given that you know the 6D pose of the sensor it's quite straight forward:

1. Convert laser scan to pcd (http://wiki.ros.org/laser_geometry)
2. Provide tf between sensor and world frame (http://wiki.ros.org/tf/Tutorials)
3. Map the laser scans using http://wiki.ros.org/octomap_server

As the name suggests, OctoSLAM performes performs mapping and localization though. In case you are only interested in mapping your laser scans given that you know the 6D pose of the sensor it's quite straight forward:

1. Convert laser scan to pcd (http://wiki.ros.org/laser_geometry)
2. Provide tf between sensor and world frame (http://wiki.ros.org/tf/Tutorials)
3. Map the laser scans using http://wiki.ros.org/octomap_server