Hi I have an navmsgs::OccupancyGrid which I want to inflate for further experiment. Similar funcationality is provided by Costmap2DROS but the parameters are read from the launch file. costmap2d::StaticLayer read the input data only via subscribing to a topic. Only way, costmap_2d::LayeredCostMap permit inflation is via using plugins!

I have tried cost_map package but there are compilation errors.

Has anyone tried doing so without breaking existing Cosmap_2d package interfaces.? Is there any other package which permit me such functionality?

Thanks