This package detects motion using an octomap as described here:
https://pdfs.semanticscholar.org/98d6/e08db85b2e0b76af2b3fa352390a0a5168b6.pdf
RobustFieldAutonomyLab/motion_hokuyo
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This package detects motion using an octomap as described here:
https://pdfs.semanticscholar.org/98d6/e08db85b2e0b76af2b3fa352390a0a5168b6.pdf