From what I can see from the bad octomap bag, the odometry never actually starts:
The "SLAM" quality stays at Unknown.
The unknown quality means that the algorithm computing the pose is starting up. In that phase, the only pose information given is orientation, no position. So it cannot build an octomap if it considers it's always in the same point. And I believe the octomap doesn't start while it's in that mode anyway...
The slamdunk needs some time staying still to be able to get the pose started up, a few seconds should suffice but if it moves before it's initialised it won't be able to.
That being said, maybe you did let it settle for a while before taking off and the slamdunk got lost for some other reason I don't know.
By the way, if you want to capture bag files, I would advise you to record the /tf topic (and maybe the depthmap as well) so we can play the pointCloud topics too and get the quality of the depth reconstruction...