diff -up ./libs/maps/src/maps/CColouredOctoMap.cpp.octomap18 ./libs/maps/src/maps/CColouredOctoMap.cpp
--- ./libs/maps/src/maps/CColouredOctoMap.cpp.octomap18	2016-08-14 11:22:59.558177427 -0400
+++ ./libs/maps/src/maps/CColouredOctoMap.cpp	2016-08-14 11:23:28.697317833 -0400
@@ -195,7 +195,7 @@ bool CColouredOctoMap::internal_insertOb
 		}
 
 		// Insert rays:
-		m_octomap.insertScan(scan, sensorPt, insertionOptions.maxrange, insertionOptions.pruning);
+		m_octomap.insertPointCloud(scan, sensorPt, insertionOptions.maxrange, insertionOptions.pruning);
 		return true;
 	}
 	else if ( IS_CLASS(obs,CObservation3DRangeScan) )
diff -up ./libs/maps/src/maps/COctoMap.cpp.octomap18 ./libs/maps/src/maps/COctoMap.cpp
--- ./libs/maps/src/maps/COctoMap.cpp.octomap18	2016-08-14 11:23:14.514762777 -0400
+++ ./libs/maps/src/maps/COctoMap.cpp	2016-08-14 11:23:50.425168188 -0400
@@ -151,7 +151,7 @@ bool COctoMap::internal_insertObservatio
 	if (!internal_build_PointCloud_for_observation(obs,robotPose, sensorPt, scan))
 		return false; // Nothing to do.
 	// Insert rays:
-	m_octomap.insertScan(scan, sensorPt, insertionOptions.maxrange, insertionOptions.pruning);
+	m_octomap.insertPointCloud(scan, sensorPt, insertionOptions.maxrange, insertionOptions.pruning);
 	return true;
 }