this code can be used for transfom the pointcloud into octomap
cd catkin_ws/src
git clone https://github.com/RuPingCen/publish_pointcloud.git
cd ..
catkin_make
将文件夹data目录下的test.pcd文件放在catkin_ws目录下，并修改launch文件指定test.pcd存放的目录
roslaunch publish_pointcloud demo.launch