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1) Try changing the combination method parameter in dynamic reconfigure.

2) What is the value of obstacle_range and clearing_range?

1) Try changing the combination method parameter in dynamic reconfigure.

2) What is the value of obstacle_range and clearing_range?

EDIT: The whole area is being updated because of the laser readings that are in the top right of the picture. Since the costmap only updates grid-aligned rectangles, you can't avoid updating that area too easily.

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