Partially freeze static_map costmap

edit

Hello all,

We are using a static costmap with the navigation stack. We update it at 0.2 Hz to keep track of obstacles not present in the bitmap, but... doing that when the robot is not accurately located can make the robot clear obstacles present in the original map loaded from the bitmap.

The question: is there any way to avoid clearing "original" obstacles (those provided by the bitmap)?

Another reason for such modification would be to cope with real obstacles not detectable by the sensors (in our case drops and glass doors), or to limit the areas where we allow the robot to navigate.

Thanks for your help; kind regards, Jorge