Collision Check with costmap_2d::Costmap_2D

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Hello all,

Currently I am working on a project where I would check a pose for collision based on my global map. I found that base_local_planner::CostmapModel can be utilized. When I tried to implement, I used getmap service from map_server. However, the msg is a nav_msgs::OccupancyGrid type. I need a Costmap_2D project to construct base_local_planner::CostmapModel. Is there any method to convert OccupancyGrid to Costmap_2D?

I read this page: http://wiki.ros.org/costmap_2d/Tutori...

It seems like it still needs a Costmap_2D object to updateCost().

What is the best way to approach this?

Sincerely,

Sean