I should start by saying your question is not actually a ‘small question’ unless I say just reply with the small answer of ‘no’.
the longer answer follows
At this time for fiducial nav we have just a basic package that goes from one point to another and do not ourselves have full featured nav with costmaps and object avoidance.
We have a simple package called move_basic because it is really very basic.
There is an industry standard for doing nav with costmaps and object avoidance with path re-plan and so on and it is called move_base. move_base is often used with lidar nav systems.
Make no mistake about it, it is HIGHLY tricky to use but we figure we could not do better than that so because it too is open source we point people to move_base as required.
Users of move_base combined with lidar nav are many.
I have not as of yet seen anybody get move_base to work with our fiducial nav. I know about lidar nav but am not one of our team experts on use of fiducial ceiling nav. I know of other folks who have sort of written their own path planners but that is an extremely complex and time consuming task.