3D Navigation (Navigation in uneven terrain)

I am trying to develop a project in which I have to navigate a robot through a cave. The problem is that the cave’s terrain is very uneven and so creating a 2D costmap to use Nav2 afterwards isn’t an option, as the 2D costmap contains a lot of “occupied spots” because of the uneven of the terrain.

Do you know any package/project that performs 3D navigation? Or is it possible to use Nav2 with a workaround (how would it be)?

I am using ROS2 in ubuntu 20.04, my simulation is runnning on Gazebo, and I am performing the SLAM with RTABMap.

Thank you!!

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