I've been using nav2_smac_planner/SmacPlannerHybrid for my project. I've noticed that precomputeDistanceHeuristic can take a long time (10 seconds in my case for lookup_table_size:20 angle_quantization_bins:72).

For my use case i need to dynamically change allow_unknown. This will trigger precomputeDistanceHeuristic again.
The 10 seconds wait time will block the heartbeats and lifecycle manager will restart the planner.

I know I can increase the timeout, but I was thinking if is a good idea to cache dist_heuristic_lookup_table vector or something.
Thx