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This sounds like a perfect use case for layered costmaps. For details check out my paper on the subject as well as my ROSCON talk.

For implementation details, check out the tutorials here.

This sounds like a perfect use case for layered costmaps. For details check out my paper on the subject as well as my ROSCON talk.

For implementation details, check out the tutorials here.

Edit: 1) The layers can build off of each other when updating values. 2) Correct.

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