Have costmap in separate node?

edit

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