Nav2

                        while True:
                            navigator.clearAllCostmaps()
                            time.sleep(10)
                            costmap = OccupancyGrid()
                            #footprint_checker = FootprintCollisionChecker(PyCostmap2D(costmap))
                            #print(localization_check.global_info)
                            costmap.info.resolution = localization_check.global_info.info.resolution
                            costmap.info.width = localization_check.global_info.info.width
                            costmap.info.height = localization_check.global_info.info.height
                            costmap.info.origin.position.x = localization_check.global_info.info.origin.position.x
                            costmap.info.origin.position.y = localization_check.global_info.info.origin.position.y
                            costmap.data = localization_check.global_info.data
                            costmap_ = PyCostmap2D(costmap)
                            footprint_checker = FootprintCollisionChecker()
                            footprint_checker.setCostmap(costmap_)
                            footprint_ = Polygon()
                            point = Point32()
                            point.x = 0.0
                            point.y = 0.70
                            point.z = 0.0
                            footprint_.points.append(point)
                            cost = footprint_checker.footprintCost(footprint_)
                            print(cost)