I'm pleased to announce the release of OctoMap 1.5 (see 
http://octomap.sf.net/ and http://www.ros.org/wiki/octomap). Along with 
our 3D visualization tool "octovis", the octomap distribution now also 
includes "dynamicEDT3D", a library for dynamically updatable 3D distance 
maps by C. Sprunk, B. Lau, and W. Burgard.

The main change in OctoMap 1.5 is a better polished API: deep-copy 
constructor on trees, == operators, key / coordinate conversion 
functions, delete functionality on nodes. octovis can now perform basic 
editing operations on octrees e.g. to clean up 3D map files. The API is 
backwards-compatible, old functions got deprecated and only deprecated 
parts of 1.4 and before are now deleted.

Detailed changelog: 
http://octomap.svn.sourceforge.net/viewvc/octomap/trunk/octomap/CHANGELOG.txt

Download OctoMap (stand-alone library and visualization): 
http://sourceforge.net/projects/octomap/files/octomap-1.5.0.tar.gz/download

Ubuntu binary packages will be part of the ROS groovy release. Already 
now, you can download the source and compile your ROS packages against 
it with the standard CMake "find_package" functionality.


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