Using rolling window without navigation stack

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Hi,

I would like to ask if it is possible to implement only the rolling window parameter using costmap_2d? I do not require autonomous navigation capabilities at this moment and would like to control it manually. However, I would like to control it at a distance and was hoping if I can use the rolling window to indicate if it is about to collide with a wall. I am planning to use a RPLidar A2 sensor for this.

Thank you