add smac planner support#166
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Just as a heads up as you calculate inflation values within the costmap layer, I think it would be beneficial to inherit from InflationLayerInterface, so that the smac planner can actually work based on the already calculated inflation.
As reference, this is what the smac planner requires to apply the collision check optimizations.
https://github.com/ros-navigation/navigation2/blob/691af6e3bd1dfc4edf5ac805f165510697bcc26e/nav2_smac_planner/include/nav2_smac_planner/utils.hpp#L75