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I'm not quite sure but I think I found part of the answer. My mistake was to assume that the master_grid would refer to the master costmap as mentioned in the paper. But this does not seem to be the case. If I would like to access the master costmap I should go over the so called layered_costmap_

Even though this may be the ugliest code around this is how I am now able to read out of the master costmap:

// READ
costmap_2d::Costmap2D* layered_costmap = layered_costmap_->getCostmap();
unsigned char* master_array = layered_costmap->getCharMap();
unsigned char element_500 = master_array[500];

But I am still confused how to properly write to the master costmap (layered_costmap_)... Do I go via the master_grid? Or do I go over functions like updateWithOverwrite()?

I'm not quite sure but I think I found part of the answer. My mistake was to assume that the master_grid would refer to the master costmap as mentioned in the paper. But this does not seem to be the case. If I would like to access the master costmap I should go over the so called layered_costmap_

Even though this may be the ugliest code around this is how I am now able to read out of the master costmap:

// READ
costmap_2d::Costmap2D* layered_costmap = layered_costmap_->getCostmap();
unsigned char* master_array = layered_costmap->getCharMap();
unsigned char element_500 = master_array[500];

But I am still confused how to properly write to the master costmap (layered_costmap_)... Do I go via the master_grid? Or do I go over functions like updateWithOverwrite()? Or may it be sth into the direction of layered_costmap->setCost(x,y,value)?