It might help reduce copies across the stack if we use the minimal costmap wrapper or just the Costmap2D object itself for getting info. Right now we own a number of copies that could be avoided by just using 1 representation for different processes / using the raw char pointer without copying values anywhere else.
The minimal costmap could also potentially be the basic costmap interface for environmental representations moving forward.
It might help reduce copies across the stack if we use the minimal costmap wrapper or just the Costmap2D object itself for getting info. Right now we own a number of copies that could be avoided by just using 1 representation for different processes / using the raw char pointer without copying values anywhere else.
The minimal costmap could also potentially be the basic costmap interface for environmental representations moving forward.