Laser scan to probabilistic map based on occupancy grid

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Hi all,

I would like to transform laser data (LaserScan) in a local 2D occupancy grid (OccupancyGrid). I tried to use "gmapping" and it worked well. But gmapping builds a global map while I only need the local one.

Is there a simple solution (a package or a node) to build a local map around the robot? Could you please tell me what should I do in details? or show me some references?

Thank you.