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I ended up using make_plan. I spent some time getting get cost too work and eventually it did but not well. I then used make plan and it is a much better way to do this.

I ended up using make_plan. I spent some time getting get cost too work and eventually it did but not well. I then used make plan and it is a much better way to do this.this. Get_cost failed due to the fact it would test points outside of the map causing a core dump. To get around this I instead used getPlan a nav_msgs service and set track_unknown_space in costmap common params to true and allow_unknown to false in navfn params.