I find the global path using lanelet2 in my ackermann driven vehicle. I am using hdl as localization and I have 3d map with 3d lidar. By converting this pointcloud map to laserscan data, I created a grid map with gmapping. Using this grid map, I need a local planner that makes local planning by marking the dynamic obstacles in front of it with an occupancy grid map. I tried Teb local planner, but according to the data from the laser, the local costmap does not update. And as parameter, teb local planner contains too many parameters, it is also very difficult to optimize them. Can I use a simpler local planner? At the same time, this local plan must be connected to the global plane. Lanelet2 has no proper documentation. Does Lanelet2 have a function that I can use for this purpose? my ros version noetic