Can we also have a method to access local costmap in the goal checker? In the current implementation, it's possible to access the goal checker in the controller. we're not passing the costmap pointer to that class. In some applications, this can be very useful.

Ideally, I think goal checking (whether it's occupied or not) should be done in the behavior tree. But if we check the goal directly in the goal checker/controller the logic in the BT can be bypassed