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How do I add the robot footprint area to the map?

Hi, I am using slam-gmapping and navigation stack with a differential robot and a hokuyo URG-04LX-UG01. The robot I use is about 0.5X0.5 m^2 in size. When I mapping with gmapping, I would like to add the robot footprint area to the freespace into the 2D map for each map update period. Is there any suggestion for this purpose?

Thanks all.