Taking into account the unknown zones by the LocalPlanner

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Dear all,

As far as I understood, the unknown zones are defined in the _GlobalCostMap_ in order to help the _GlobalPlanner_ to generate a _GlobalPlan_ which does not interfere the Unknown Zones. But, the _LocallPlanner_ does not take into account this information.

I was wondering if there is a way that the _LocalPlanner_ takes into account the information about the Unknown Zones?

The problem which I try to solve is that when the robot wants to avoid an obstacle, it enters inside an unknown zone which is not desired.

Thanks,