Source ROS and workspace

roslaunch rosbridge_server rosbridge_websocket.launch
rosrun unity_decoder stringDecoder.py 
rosrun converter_pkg tf2_broadcaster.py 
rosrun converter_pkg scantfbroadcaster.py
rosrun converter_pkg laserscanpublisher.py 
rosrun converter_pkg laser2pc.py 
roslaunch octomap_server octomap_mapping.launch 
rviz

In rviz:
1. Set fixed frame as odom
2. Add Marker array
3. Set marker topic as "Occupied....." from the drop down.

Then, 
rosrun controllerpkg key_publisher.py