message: move flood fill to octomap::uptade()
diff: @@ -131,9 +131,10 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
  #ifdef WITH_OCTOMAP_MSGS
  #ifdef RTABMAP_OCTOMAP
  - octomap_ = new OctoMap(occupancyGrid_->getCellSize(), 0.5, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError());
  - pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
  +
  pnh.param("octomap_frontier_flood_fill", octomap_frontier_flood_fill_, false);
  + pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
  +
  if(octomapTreeDepth_ > 16)
  {
  @@ -146,6 +147,10 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
  octomapTreeDepth_ = 16;
  }
  ROS_INFO("%s(maps): octomap_tree_depth = %d", name.c_str(), octomapTreeDepth_);
  +
  +
  + octomap_ = new OctoMap(occupancyGrid_->getCellSize(), 0.5, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError(), octomap_frontier_flood_fill_, octomapTreeDepth_);
  +
  #endif
  #endif
  @@ -1241,7 +1246,7 @@ void MapsManager::publishMaps(
  pcl::IndicesPtr frontierIndices(new std::vector<int>);
  pcl::IndicesPtr emptyIndices(new std::vector<int>);
  pcl::IndicesPtr groundIndices(new std::vector<int>);
  - pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap_->createCloud(octomapTreeDepth_, obstacleIndices.get(), emptyIndices.get(), groundIndices.get(), true, frontierIndices.get(),0,octomap_frontier_flood_fill_);
  + pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap_->createCloud(octomapTreeDepth_, obstacleIndices.get(), emptyIndices.get(), groundIndices.get(), true, frontierIndices.get(),0);
  if(octoMapCloud_.getNumSubscribers())
  {
  