How to set collision for octomap in moveit?

I input octomap to moveit first of run this command. rosrun octomap_server octomap_server_node cloud_in:=rtabmap/cloud_map And move goal quadrotor when fixed framed is odom-combine. After that, I set fixed framed to map.(this is the only way I can move quadrotor) And do the plan. I found that quadrotor pass through the octomap. Octomap doesn’t have collision. How do I set collision for octomap? in [this](http://imgur.com/6UAn1rW) picture,you can see quadrotor ignore octomap