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Again, I will answer my own question.

I wrote a custom range filter, and this can be applied in obstacle observation sources in costmap_common_params.yaml The logic is simple, if the laser range is large enough or Inf or Nan, then rewrite it to be another value which is slightly larger than your "obstacle_range" value.

https://github.com/wennycooper/learning_nav/blob/master/src/mybot_laser_obstacle_clearing_filter.cpp