Creating a costmap from an existing point cloud
I have an existing point cloud in pcd format and would like to create a costmap from it to find the least cost path. The tutorials I went through for costmaps rely on sensor data and I am unable to find example launch or config files that would help with my situation.
I know I can publish the point cloud with
rosrun pcl_ros pcd_to_pointcloud <file.pcd>
but I am unsure how to use this to create a costmap.
I am using ROS melodic on Ubuntu 18.04.