¿occupancy grid from a laser network system?

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Hi,

I'm looking for a way to create a map of a environment in which there are statics lasers and mobile robot with lasers. I found occupancy_grid_utils libraries and costmap_2d package and I think this can help in create a occupancy grid from a single laser topic.

I want to know if there is something in ROS that merge the grids retrieved by the previous process. Also, if someone have any suggestion on how to use occupancy_grid_utils or costmap_2d, please let me know.

Gustavo.