Hey Armin,

A)
The problem with Rviz and octomap was my fault: I was subscribing to
"occupied_cells_vis_array" (as advertised by rostopic), changing to
"occupied_cells_vis" works perfectly! Thanks!


B)
I am trying to discover what octomap can or cannot do in terms of
sensor-noise and position-error cancelation. 
Therefore, I was trying to compare inserting scans one by one or point by
point in an OcTree. 
I had found read_pointcloud to contains and example on how to insert a scan
at once.
Still, I am not really understanding the difference between OcTree and
ScanGraph.

Is there a starting point other than the examples and the scientific paper
to grasp all octomap's concepts?
Is there actually a difference in inserting scans point by point or all a
once? And what would be the way to do that properly from a pointcloud2
message?

I know, that's a lot of questions... :)

Concerning octomap2 and collision_octomap, I will wait for Kai's input or
the future public release :)

Thanks a lot for your answer

Raph
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