Inflates obstacles to speed collision checking and to make robot prefer to stay away from obstacles. Listens to OccupancyGrid messages and copies them in, like from map_server. Listens to OccupancyGrid messages and copies them in, like from map_server. Listens to OccupancyGrid messages and copies them in, like from map_server. Listens to OccupancyGrid messages and copies them in, like from map_server. Listens to laser scan and point cloud messages and marks and clears grid cells. Listens to OccupancyGrid messages and copies them in, like from map_server. Similar to obstacle costmap, but uses 3D voxel grid to store data.