Checking if a Pose would be in Collision [closed]

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Hey ROS Hive-Mind,

I've been trying out a new localization method and I'm trying to validate my poses before accepting them for robot updates. I was going to write a service to do this, but it occurs to me there is probably already one that is used elsewhere since this seems like a pretty useful thing. Closest I've found so far is link:move_base/make_plan, but that's not actually what I want since I'd have to give a starting position and it could return a negative response for reasons other than the end point is in collision.

Ideally this service would also take into account the inflation layer.

Does anyone know of a service that may meet my needs? Or should I just go ahead and write my own.

Thanks, David