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hi!,

I think that the information you are looking for, is published in the topic /map. If you take a look to the gmapping documentation http://wiki.ros.org/gmapping , you will see that gmapping, publish the occupancy grid information, in the format of a message of the type http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html, in the topic /map. So, you should just subscribe to that topic, to get the information you are looking for.

Hope this helps you!

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