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I'd say that if you just wanted to avoid that area completely, you could simply mark those areas as obstacles in a static map and load that map into the global map using map_server.

If you want to preserve the ability to traverse it, the above are the best options in my opinion.

I'll add a fourth option, just in case:

Carry two static maps loaded from image files. One with the areas in question marked as obstacles, and one with them as free. Then, you can use actionlib to watch for a path-planning failure due to no route. If this error is received, you could then load the emptier map and retry. This is also a fairly hacky solution, but it eliminates the need for marking the areas as obstacles dynamically.