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To pipe laserscan or pointcloud data into an 'occupancy grid' style data structure, you can use the costmap_2d library.

http://wiki.ros.org/costmap_2d

You can run a standalone costmap as a node (costmap_2d_node), and configure the costmap's layers (particularly obstacle layers) to take in sensor data.

Users typically use costmap_2d as part of the navigation stack, which integrates the costmaps together with planners to give an end-to-end-ish solution for 2d navigation.