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Have a look at the costmap_2d package if you'd like some help. The "costmap_2d.cpp" source file contains most of the raytracing source code used in populating the costmaps with observation data from laser scans and point clouds.

Your problem is very large, and is not something that we can directly help you with. Take a look at costmap_2d, and if you have any specific questions, feel free to ask for help with them, but this question is extremely broad for us to help you.