diff --git a/pkgs/development/libraries/octomap/default.nix b/pkgs/development/libraries/octomap/default.nix
new file mode 100644
index 00000000000..7e82842c0b9
--- /dev/null
+++ b/pkgs/development/libraries/octomap/default.nix
@@ -0,0 +1,24 @@
+{ lib, stdenv, fetchFromGitHub, cmake }:
+
+stdenv.mkDerivation rec {
+  pname = "octomap";
+  version = "1.9.6";
+
+  src = fetchFromGitHub {
+    owner = "OctoMap";
+    repo = pname;
+    rev = "v${version}";
+    sha256 = "03v341dffa0pfzmf2431xb5nq50zq9zlhgl6k2aa3fsza5xmbb70";
+  };
+  sourceRoot = "source/octomap";
+
+  nativeBuildInputs = [ cmake ];
+
+  meta = with lib; {
+    description = "A probabilistic, flexible, and compact 3D mapping library for robotic systems";
+    homepage = "https://octomap.github.io/";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index d695650e354..e89fe6c61de 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -20815,6 +20815,8 @@ in
 
   nss_ldap = callPackage ../os-specific/linux/nss_ldap { };
 
+  octomap = callPackage ../development/libraries/octomap { };
+
   odp-dpdk = callPackage ../os-specific/linux/odp-dpdk { };
 
   odroid-xu3-bootloader = callPackage ../tools/misc/odroid-xu3-bootloader { };