Check that a pose is free in a costmap

Hi everyone, I'm trying determine if a given (random) pose is free in a costmap. My launch file looks like this: costmap: footprint: [[0.506, -0.32], [0.506, 0.32], [-0.454, 0.32], [-0.454, -0.32]] inflater_layer: inflation_radius: 0.7 plugins: - {name: 'static_layer', type: 'costmap_2d::StaticLayer'} - {name: inflater_layer, type: "costmap_2d::InflationLayer"} I tried to use `/gp/make_plan` with the same pose for `start` and `goal`. But sometimes, a part of the footprint is stuck in an obstacle:  I don't know if I made an error with the parameters or if using the planner for that purpose is simply not possible. Did I miss something or do have a better idea?