diff --git a/Formula/octomap.rb b/Formula/octomap.rb
new file mode 100644
index 0000000000..bfa714118b
--- /dev/null
+++ b/Formula/octomap.rb
@@ -0,0 +1,30 @@
+class Octomap < Formula
+  desc "Efficient probabilistic 3D mapping framework based on octrees"
+  homepage "https://octomap.github.io/"
+  url "https://github.com/OctoMap/octomap/archive/v1.9.0.tar.gz"
+  sha256 "5f81c9a8cbc9526b2e725251cd3a829e5222a28201b394314002146d8b9214dd"
+
+  depends_on "cmake" => :build
+
+  def install
+    cd "octomap" do
+      system "cmake", ".", *std_cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    (testpath/"test.cpp").write <<~EOS
+      #include <cassert>
+      #include <octomap/octomap.h>
+      int main() {
+        octomap::OcTree tree(0.05);
+        assert(tree.size() == 0);
+        return 0;
+      }
+    EOS
+    system ENV.cxx, "test.cpp", "-I#{include}", "-L#{lib}",
+                    "-loctomath", "-loctomap", "-o", "test"
+    system "./test"
+  end
+end