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I did something very similar to what you are trying. If you know the geometric shape of your road lanes (and specially easy if they are rectangles), you can create your own costmap layer plugin and "paint" the costs you want. The social_navigation_layers::PassingLayer is a very good starting point, as there it shows how to slightly increase to cost in one area. Instead of listening for persons, you use your information about the lanes and in which lane the robot is prefered to drive, and increase the costs on the other lanes. Hope this helps