1. turtlebot slam
http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
2. Octomap with turtlebot
http://answers.ros.org/question/36887/3d-mapping-using-octomap-with-turtlebot/
3. turtlebot 3D visualization
http://ros.org/wiki/turtlebot_bringup/Tutorials/groovy/3D%20Visualisation