[Smac planner hybrid] turning radius not updated with new costmap

[LinusTxtonomy]

Bug report

Required Info:

• Operating System:
  • Debian12
• ROS2 Version:
  • humble
• Version or commit hash:
  • 7657f2f37659808884ae6a708f3d51054af6355c

Steps to reproduce issue

Send a first grid map to initialize the planner, then send an updated grid map with a different resolution

Expected behavior

The grid map is updated and the planner generates a path with the new grid map

Actual behavior

The grid map is updated but the turning radius that depends on grid map resolution is not updated. The path looks valid at first since the start and goal poses are transformed back and forth based on the new resolution but the turning radius only updates if the parameter for it is changed.

Additional information

I think the turning radius should be set when the createPlan function is called and not just in the parameter callback.