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I had similar question. Below is link to the question with description how I fixed it. It's all about setting up the layers properly and then setting the 'clearing' setting false.

For me it worked for what I needed. The laser would no longer clear the obstacles...but with the way I have it setup, once the robot moves far from the obstacle and that area no longer appears in the cost map, the obstacle would be gone when the robot goes back to that area. In my use case, that is perfect, but it may be an issue for you.

http://answers.ros.org/question/251095/costmap-clears-obstacles-when-it-should-not/