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moveit-perception and octomap server


I would like to use moveit-perception with a pre-generated octomap. I am aware of the occupancy_map_monitor/PointCloudOctomapUpdater sensor_plugin in of moveit, which also works well. The only issue ist, that the octomap is generated at runtime. Is there a way to either save and later load the octomap or listen to a octomap topic from the octomap server?