• broadcastCostmap2DROSTestSuiteTransforms() : costmap_2d_ros.cpp , costmap_2d_ros.hpp
• fromCostmap2DROS() : costmap_2d_ros.cpp
• fromCostmap2DROSAtRobotPose() : costmap_2d_ros.cpp
• main() : costmap_2d_ros.cpp , test_grid_map_costmap_2d.cpp
• TEST() : costmap_2d_ros.cpp , Costmap2DConverterTest.cpp , costmap_2d_ros.cpp