diff --git a/math/octomap/Makefile b/math/octomap/Makefile
index c352006548f8..7ad8273f53f0 100644
--- a/math/octomap/Makefile
+++ b/math/octomap/Makefile
@@ -1,29 +1,29 @@
 PORTNAME=	octomap
 DISTVERSIONPREFIX=	v
-DISTVERSION=	1.9.8
+DISTVERSION=	1.10.0
 CATEGORIES=	math
 
 MAINTAINER=	yuri@FreeBSD.org
 COMMENT=	Efficient probabilistic 3D mapping framework based on octrees
 WWW=		https://octomap.github.io/
 
 LICENSE=	BSD3CLAUSE GPLv2
 LICENSE_COMB=	dual
 LICENSE_FILE_BSD3CLAUSE=	${WRKSRC}/octomap/LICENSE.txt
 LICENSE_FILE_GPLv2=	${WRKSRC}/octovis/LICENSE.txt
 
 LIB_DEPENDS=	libQGLViewer-qt5.so:graphics/libQGLViewer
 
 USES=		cmake:testing compiler:c++11-lang localbase:ldflags gl qt:5
 USE_QT=		core gui opengl xml widgets buildtools:build qmake:build
 USE_GL=		gl glu
 USE_LDCONFIG=	yes
 
 USE_GITHUB=	yes
 GH_ACCOUNT=	OctoMap
 
-# Viewer is broken: https://github.com/OctoMap/octomap/issues/224, and libQGLViewer detection is broken: https://github.com/OctoMap/octomap/issues/225
-#CMAKE_ON=	OCTOVIS_QT5
+# libQGLViewer detection is broken: https://github.com/OctoMap/octomap/issues/225
+CMAKE_ON=	OCTOVIS_QT5
 CMAKE_ARGS=	-DQGLVIEWER_BASE_DIR:PATH=${LOCALBASE}/include/QGLViewer #-DQGLViewer_LIBRARY_DIR_OTHER:PATH=${LOCALBASE}/lib
 
 .include <bsd.port.mk>
diff --git a/math/octomap/distinfo b/math/octomap/distinfo
index 7def9824dee2..e8457bba45d9 100644
--- a/math/octomap/distinfo
+++ b/math/octomap/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1653983015
-SHA256 (OctoMap-octomap-v1.9.8_GH0.tar.gz) = 417af6da4e855e9a83b93458aa98b01a2c88f880088baad2b59d323ce162586e
-SIZE (OctoMap-octomap-v1.9.8_GH0.tar.gz) = 1693311
+TIMESTAMP = 1710929828
+SHA256 (OctoMap-octomap-v1.10.0_GH0.tar.gz) = 8da2576ec6a0993e8900db7f91083be8682d8397a7be0752c85d1b7dd1b8e992
+SIZE (OctoMap-octomap-v1.10.0_GH0.tar.gz) = 1694103
diff --git a/math/octomap/pkg-plist b/math/octomap/pkg-plist
index d505f617bf4c..e27da19b6908 100644
--- a/math/octomap/pkg-plist
+++ b/math/octomap/pkg-plist
@@ -1,86 +1,86 @@
 bin/binvox2bt
 bin/bt2vrml
 bin/compare_octrees
 bin/convert_octree
 bin/edit_octree
 bin/eval_octree_accuracy
 bin/graph2tree
 bin/log2graph
 bin/octovis
 include/dynamicEDT3D/bucketedqueue.h
 include/dynamicEDT3D/bucketedqueue.hxx
 include/dynamicEDT3D/dynamicEDT3D.h
 include/dynamicEDT3D/dynamicEDTOctomap.h
 include/dynamicEDT3D/dynamicEDTOctomap.hxx
 include/dynamicEDT3D/point.h
 include/octomap/AbstractOcTree.h
 include/octomap/AbstractOccupancyOcTree.h
 include/octomap/ColorOcTree.h
 include/octomap/CountingOcTree.h
 include/octomap/MCTables.h
 include/octomap/MapCollection.h
 include/octomap/MapCollection.hxx
 include/octomap/MapNode.h
 include/octomap/MapNode.hxx
 include/octomap/OcTree.h
 include/octomap/OcTreeBase.h
 include/octomap/OcTreeBaseImpl.h
 include/octomap/OcTreeBaseImpl.hxx
 include/octomap/OcTreeDataNode.h
 include/octomap/OcTreeDataNode.hxx
 include/octomap/OcTreeIterator.hxx
 include/octomap/OcTreeKey.h
 include/octomap/OcTreeNode.h
 include/octomap/OcTreeStamped.h
 include/octomap/OccupancyOcTreeBase.h
 include/octomap/OccupancyOcTreeBase.hxx
 include/octomap/Pointcloud.h
 include/octomap/ScanGraph.h
 include/octomap/math/Pose6D.h
 include/octomap/math/Quaternion.h
 include/octomap/math/Utils.h
 include/octomap/math/Vector3.h
 include/octomap/octomap.h
 include/octomap/octomap_deprecated.h
 include/octomap/octomap_timing.h
 include/octomap/octomap_types.h
 include/octomap/octomap_utils.h
 include/octovis/ColorOcTreeDrawer.h
 include/octovis/OcTreeDrawer.h
 include/octovis/OcTreeRecord.h
 include/octovis/PointcloudDrawer.h
 include/octovis/SceneObject.h
 include/octovis/SelectionBox.h
 include/octovis/TrajectoryDrawer.h
 lib/libdynamicedt3d.so
-lib/libdynamicedt3d.so.1.9
-lib/libdynamicedt3d.so.1.9.8
+lib/libdynamicedt3d.so.1.10
+lib/libdynamicedt3d.so.1.10.0
 lib/liboctomap.so
-lib/liboctomap.so.1.9
-lib/liboctomap.so.1.9.8
+lib/liboctomap.so.1.10
+lib/liboctomap.so.1.10.0
 lib/liboctomath.so
-lib/liboctomath.so.1.9
-lib/liboctomath.so.1.9.8
+lib/liboctomath.so.1.10
+lib/liboctomath.so.1.10.0
 lib/liboctovis.so
-lib/liboctovis.so.1.9
-lib/liboctovis.so.1.9.8
+lib/liboctovis.so.1.10
+lib/liboctovis.so.1.10.0
 libdata/pkgconfig/dynamicEDT3D.pc
 libdata/pkgconfig/octomap.pc
 share/ament_index/resource_index/packages/dynamicEDT3D
 share/ament_index/resource_index/packages/octomap
 share/ament_index/resource_index/packages/octovis
 share/dynamicEDT3D/dynamicEDT3DConfig-version.cmake
 share/dynamicEDT3D/dynamicEDT3DConfig.cmake
 share/dynamicEDT3D/dynamicEDT3DTargets-%%CMAKE_BUILD_TYPE%%.cmake
 share/dynamicEDT3D/dynamicEDT3DTargets.cmake
 share/dynamic_edt_3d/package.xml
 %%DATADIR%%/octomap-config-version.cmake
 %%DATADIR%%/octomap-config.cmake
 %%DATADIR%%/octomap-targets-%%CMAKE_BUILD_TYPE%%.cmake
 %%DATADIR%%/octomap-targets.cmake
 %%DATADIR%%/package.xml
 share/octovis/octovis-config-version.cmake
 share/octovis/octovis-config.cmake
 share/octovis/octovis-targets-%%CMAKE_BUILD_TYPE%%.cmake
 share/octovis/octovis-targets.cmake
 share/octovis/package.xml