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I don't know if it is possible to add them into gmapping, but if you just want them to show up as obstacles to avoid, you could feed the GPS coordinates directly into the costmap obstacle layer.
The simplest possible way to do this that I can see would be to take the GPS coordinate of each boat, pretend that it is a laser scan point and put it into a laser scan message. Publish this on a topic and configure the costmap obstacle layer to use this as an additional observation source where observation_sources is a parameter to the obstacle layer saying which topics to listen to.
Hmm. Now that I think of it, since gmapping is listening to laser scans, it could possibly be configured to listen to this source as well.
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