Occupancy Map Monitor

[BingPeng0]

I am trying to do 3D perception using Occupancy Map Monitor
But I not sure how to start with, does anyone have any ideas to do so?
I have tried to run the the server from my launch file
occupancy_map_monitor_node = Node(
package="moveit_ros_occupancy_map_monitor",
executable="moveit_ros_occupancy_map_server",
output="screen",
parameters=[moveit_config.to_dict()],
arguments=["--ros-args", "--log-level", "info"],)
but what happened is it will publish octomap_msgs/msg/Octomap msg to a topic called octomap_binary
so I not sure how do I feed my data to the monitor

I have also tried to add the sensor in the moveit_config package
.sensors_3d(
file_path=get_package_share_directory("moveit2_tutorials")
+ "/config/sensors_3d.yaml")
but nothing appear

does anyone have experience on this? The topic data I have is the point cloud data and RGB and Depth data