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There are some repositories tackling similar challenge of merging the map from different robots:

• https://github.com/hrnr/m-explore
• https://github.com/Nightbot1448/TBMMapMerging/tree/master
• https://github.com/ANYbotics/grid_map
• https://github.com/OctoMap/octomap_mapping
• https://wiki.ros.org/nav2d/Tutorials/DistributedMapping
• https://gingineer95.github.io/2021/03/21/multirobot-map-merge/
• https://github.com/awesomebytes/occupancy_grid_python

Get what you can out of these materials, then develop your custom obstacle detection on merged maps or use some of the tools mentioned in these related sources:

• https://answers.ros.org/question/402073/multirobot_map_merge-merged-map-width-and-height-varies-with-number-of-robots/#402080
• https://github.com/klintan/ros2_pcl_object_detection