Did you have any success with this method? I am embarking on a similar task (updating local map with map updates from other remote robots). I may potentially union or average the two maps. I would like to find the most computationally efficient, but more importantly data package efficient method, and am opening the question to anyone on this thread. I am concerned about data package size due to being in a constrained communication environment.
I understand that transmitting and receiving a point cloud message between two robots is more difficult than sending the serialized OctoMap messages. I am wondering if sending the serialized OctoMap message from the remote machine and then deserializing it on the local machine would be best to reduce data package size.
I believe these functionalities exist and can be leveraged in the octomap_msgs conversion.h file.
I appreciate any and all feedback!