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Handle Octomap#127

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mpowelson wants to merge 2 commits intoros:masterfrom
mpowelson:octomap
Open

Handle Octomap#127
mpowelson wants to merge 2 commits intoros:masterfrom
mpowelson:octomap

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Adds the octomap type and a small unit test for parsing.

Needs urdfdom_headers/#56

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