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If you already have a map, and want incorporate your sensor_msgs/Range in move_base, modify the existing obstacle_layer plugin to subscribe to a topic with message type sensor_msgs/Range instead of sensor_msgs/LaserScan.

Any reason not just to use range_sensor_layer?

If you already have a map, and want incorporate your sensor_msgs/Range in move_base, modify the existing obstacle_layer plugin to subscribe to a topic with message type sensor_msgs/Range instead of sensor_msgs/LaserScan.

Any reason to not just to use range_sensor_layer?

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