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Perhaps the easiest solution is to write a node that converts bumper messages to a datatype that can be processed by a costmap2d obstacle_layer (this looks like a potential solution). I would also make a separate costmap layer for just the bumper sensor to avoid the laser marking the region as clear.
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Perhaps the easiest solution is to write a node that converts bumper messages to a datatype that can be processed by a costmap2d obstacle_layer (this looks like a potential solution). I would also make a separate costmap layer for just the bumper sensor to avoid the laser Kinect marking the region as clear.
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