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The global costmap subscribes to different sensor topics and uses the sensor data to update itself. It can either insert obstacles into the costmap or clear obstacles from the costmap. Please see http://wiki.ros.org/costmap_2d for details.

The global costmap subscribes to different sensor topics over ROS and uses the sensor data to update itself. It can either insert obstacles into the costmap or clear obstacles from the costmap. Please see http://wiki.ros.org/costmap_2d for details.

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