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You cannot share pointers between nodes. This means that you cannot directly access a costmap that is running in a different node.

Depending on exactly what you're trying to do, some of the following might apply:

  • Within move_base, the costmap updates, the local planner and the global planner all run in different threads
  • You can pass Costmap2D messages between nodes, but the underlying layering is lost, and transferring big maps can be slow
  • You can create a Costmap2D object within your node
  • There is a node that allows you to run the costmap by itself, without the planners