Create collision map from Kinect with nodelet

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Hi,

I use a camera Kinect for create a collision map but currently it's too slow and use 100% CPU. So I want use nodelets to avoid useless copies of pointCloud and speed up the process. I understand how I should use nodelet with openni_launch because I have a good explaining here: Get start with ROS Nodelet

My question is How create a collision map with nodelet ? Currently I use octomap_server to construct the map but it's not a nodelet.

It's necessary to modify the package ocotomap_server to porting nodes to nodelets ?

Or it's possible to run this node as nodelets with a change in the launch file ?

Or existing other package to construct collision map with nodelets ?

Thanks

EDIT:

I have tried with two computer: (With system Monitor)

The first work with two CPU at 100%: Ubuntu 10.04 / Ros Electric / Memory 3.9 GiB / Two processor Intel Core(TM)2 6600 @ 2.40GHz

The second work well, it have only a CPU at 100%, it have 8 CPU: Unbuntu 12.04 / Ros Electric / Memory 15.7 GiB / Height processor Intel(R)Xeon(R) W3565 @ 3.20 GHz

EDIT 2: New subject on how create this node: Build a octomap_server nodelet