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Depends on where you want to do the check, seperate node (probably subscriber), node that has the costmap as a member.

I guess it is straight forward if the costmap is member, than translate the coordinate to the relevant cell (e.g. using the worldToMap function), check the costs (e.g. using the getCost function) and then compare against the cost values).

Maybe there is a more direct way, but I don't know.

If it is a seperate node where you subscribe to, the way should be the same...