unable to update octomap correctly using insertPointcloud

edit

Hi,

The API call you use in Octomap expects the input pointclouds to be correctly registered (i.e. aligned) with respect to the global coordinate frame. (In fact Octomap library doesn't do any form of pointcloud alignment at all, so you are responsible in providing the correctly aligned pointclouds). You can play around with something like PCL pointcloud registration (http://pointclouds.org/documentation/tutorials/#registration-tutorial) to align the pointclouds correctly.

Also, you would most definitely would require to use a localization or a SLAM solution that generates a more accurate estimation of the current pose of the sensor, as opposed to using the odometry of the turtlebot.