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Here's what I would do:

  1. Subscribe to the local costmap topic being generated by your obstacle avoidance stack
  2. Get the range of points within this local costmap
  3. Pick an x value and a y value at random between these points
  4. Check if that point is marked as 'clear' by the costmap
  5. If it is, go there
  6. If it isn't, pick a new point