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Hi.

If you are publishing a point cloud topic, you can use the costmap_2d package.

There you can understand more how to use and config costmap layers to create an obstacle map using some message types as Laserscan and PointCLoud2.

On the costmap_2d tutorial and ROS navigation repository, there are examples for launch files and config. They are not the best example, but it is a start.

costmap_2d tutorial/Config Obstacle Layer

ROS costmap_2d node launch

ROS costmap_2d node config yaml

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