I am wondering if there is an option to have the local costmap aligned with your robot?
My point is that if you have a car-like robot which moves mostly forward and cant turn in place, most of the space in a local costmap is useless.
So I would reduce the length of the costmap behind the robot and also the width but would increase the length in front of the robot.
Is there already such an option from which I am not aware?
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