Bug report

Required Info:

• Operating System:
• ROS2 Version:
• Version or commit hash:
• DDS implementation:

Steps to reproduce issue

in file costmap_2d.cpp

void Costmap2D::initMaps(unsigned int size_x, unsigned int size_y)
{
  std::unique_lock<mutex_t> lock(*access_);
  delete[] costmap_;
  costmap_ = new unsigned char[size_x * size_y];
}

Expected behavior

Actual behavior

Additional information

Feature request

Feature description

set size_x_ and size_y_ in this method. Since these two attributes are always used to describe costmap_, I think this information should be synchronized when initializing the map, and setting them separately causes code redundancy.

Implementation considerations