The octree-based mapping library OctoMap has just been released as 
stable version 1.0 at http://octomap.sf.net. There is now a full-blown 
doxygen documentation available at http://octomap.sourceforge.net/doxygen/.

Based on OctoMap 1.0, a new version of the octomap_mapping stack 
(http://www.ros.org/wiki/octomap_mapping) was also just released for 
cturtle, diamondback, and unstable. Debian packages will appear in the 
Ubuntu ROS repositories soon, diamondback builds should be already 
available in the shadow-fixed repository for those willing to try them 
out. New in the octomap_mapping stack is the octomap_ros package to ease 
the integration of OctoMap with ROS / PCL.

Your friendly neighborhood OctoMap team (Kai and Armin)

-- 
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga