The navigation stack supports obstacle avoidance from 3D point clouds out of the box. Here's the tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup#Costmap_Configuration_.28local_costmap.29_.26_.28global_costmap.29 It's better to ask this kind of question over at https://answers.ros.org/. If you encounter problems while following the tutorial, create a question over there and copy a link here, I'll try to answer. --- [Visit Topic](https://discourse.ros.org/t/fusing-r200-and-lidar-data-slam-gmapping/6653/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: