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Hi, The package ethzasl_icp_mapping might be the one you need. The you could use this package octopmap_server to get a projected 2D occupancy grid by passing it the registered point cloud from ethzasl_icp_mapping

Hi, The package ethzasl_icp_mapping might be the one you need. ~~The~~ Then you could use this package octopmap_server to get a projected 2D occupancy grid by passing it the registered point cloud from ethzasl_icp_mapping

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