Local Cost Map doesn't rotate with robot.

[MishaShapo]

Rationale is that we always want to move forward because that direction has the most accurate cost map data. So we know that the robot is always in the middle of the costmap, but we don't know (directly from the cost map) which direction is forward (aka which cells of the cost map to test to see if we can move).

You have to find a way to track the robots rotation and figure out which direction relative to the cost map the robot is currently pointing.

I would start with the map metadata and the origin position values. I vaguely remember seeing a Pose somewhere. Worth looking into.