Costmap_2d doesn't respect robot's movement\rotation during LaserScan scan time.

[pavloblindnology]

In Costmap_2d high fidelity projection of sensor_msgs::LaserScan to sensor_msgs::PointCloud2 is used to account for situation of moving\rotating robot. Here is the appropriate line

navigation/costmap_2d/plugins/obstacle_layer.cpp

Line 262 in 9edda2b

projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, *tf_);

But as the target frame the laser scan frame is used!
That makes this high fidelity projection a simple projection!
As no laser's movement\rotation info is contained in message->header.frame_id -> message->header.frame_id projection (identity).

This issue goes from commit dcfc40d that fixed #148. The comments to the latter also mention the problem with such transformLaserScanToPointCloud usage.