diff --git a/code/mapping/src/mapping_data_integration.py b/code/mapping/src/mapping_data_integration.py
index d80e71fe..8be309dd 100755
--- a/code/mapping/src/mapping_data_integration.py
+++ b/code/mapping/src/mapping_data_integration.py
@@ -5,14 +5,14 @@
 import ros_compatibility as roscomp
 import ros_numpy
 import rospy
-
+from visualization_msgs.msg import MarkerArray
 import random
-
+import numpy as np
 from typing import List, Optional
 
 from mapping_common.entity import Entity, Flags
 from mapping_common.transform import Transform2D, Vector2
-from mapping_common.shape import Circle
+from mapping_common.shape import Circle, Rectangle
 from mapping_common.map import Map
 from mapping.msg import Map as MapMsg
 
@@ -29,6 +29,7 @@ class MappingDataIntegrationNode(CompatibleNode):
     """
 
     lidar_data: Optional[PointCloud2] = None
+    lidar_marker_data: Optional[MarkerArray] = None
 
     def __init__(self, name, **kwargs):
         super().__init__(name, **kwargs)
@@ -39,6 +40,13 @@ def __init__(self, name, **kwargs):
             callback=self.lidar_callback,
             qos_profile=1,
         )
+
+        self.new_subscription(
+            topic=self.get_param("~marker_topic", "/paf/hero/Lidar/Marker"),
+            msg_type=MarkerArray,
+            callback=self.lidar_marker_callback,
+            qos_profile=1,
+        )
         self.map_publisher = self.new_publisher(
             msg_type=MapMsg,
             topic=self.get_param("~map_init_topic", "/paf/hero/mapping/init_data"),
@@ -47,9 +55,44 @@ def __init__(self, name, **kwargs):
         self.rate = 1.0 / 20.0
         self.new_timer(self.rate, self.publish_new_map)
 
+    def lidar_marker_callback(self, data: MarkerArray):
+        self.lidar_marker_data = data
+
     def lidar_callback(self, data: PointCloud2):
         self.lidar_data = data
 
+    def entities_from_lidar_marker(self) -> List[Entity]:
+        data = self.lidar_marker_data
+        if data is None or not hasattr(data, "markers") or data.markers is None:
+            # Handle cases where data or markers are invalid
+            rospy.logwarn("No valid marker data received.")
+            return []
+
+        lidar_entities = []
+        for marker in data.markers:
+            if not marker.points:
+                rospy.logwarn(f"Skipping empty marker with ID: {marker.id}")
+                continue
+            width, length = calculate_marker_width_length_2d(marker.points)
+            x_center, y_center = calculate_marker_center_2d(marker.points)
+
+            shape = Rectangle(width, length)
+            v = Vector2.new(x_center, y_center)
+            transform = Transform2D.new_translation(v)
+
+            flags = Flags(is_collider=True)
+            e = Entity(
+                confidence=1,
+                priority=0.25,
+                shape=shape,
+                transform=transform,
+                timestamp=marker.header.stamp,
+                flags=flags,
+            )
+            lidar_entities.append(e)
+
+        return lidar_entities
+
     def entities_from_lidar(self) -> List[Entity]:
         if self.lidar_data is None:
             return []
@@ -86,11 +129,66 @@ def publish_new_map(self, timer_event=None):
             return
 
         stamp = rospy.get_rostime()
-        map = Map(timestamp=stamp, entities=self.entities_from_lidar())
+        map = Map(timestamp=stamp, entities=self.entities_from_lidar_marker())
         msg = map.to_ros_msg()
         self.map_publisher.publish(msg)
 
 
+def calculate_marker_center_2d(points):
+    """
+    Calculates the center (x, y) of a 2D bounding box based on marker points.
+
+    Args:
+        points (list or numpy.ndarray): List of geometry_msgs/Point objects or NumPy array.
+
+    Returns:
+        tuple: Center coordinates (x_center, y_center).
+    """
+    # Convert list of points to NumPy array if necessary
+    points_array = (
+        np.array([[p.x, p.y] for p in points])
+        if not isinstance(points, np.ndarray)
+        else points
+    )
+
+    # Calculate min and max values
+    x_min, x_max = np.min(points_array[:, 0]), np.max(points_array[:, 0])
+    y_min, y_max = np.min(points_array[:, 1]), np.max(points_array[:, 1])
+
+    # Calculate the center
+    x_center = (x_min + x_max) / 2
+    y_center = (y_min + y_max) / 2
+
+    return x_center, y_center
+
+
+def calculate_marker_width_length_2d(points):
+    """
+    Calculates the width and length of a 2D bounding box (x, y dimensions only).
+
+    Args:
+        points (list or numpy.ndarray): List or array of points with [x, y, z].
+
+    Returns:
+        tuple: Width and length of the bounding box.
+    """
+    # Convert to NumPy array if points is a list
+    points_array = (
+        np.array([[p.x, p.y] for p in points])
+        if not isinstance(points, np.ndarray)
+        else points
+    )
+
+    # Calculate width and length using min/max on x and y dimensions
+    x_min, x_max = np.min(points_array[:, 0]), np.max(points_array[:, 0])
+    y_min, y_max = np.min(points_array[:, 1]), np.max(points_array[:, 1])
+
+    width = x_max - x_min
+    length = y_max - y_min
+
+    return width, length
+
+
 if __name__ == "__main__":
     name = "mapping_data_integration"
     roscomp.init(name)