PASS map_server: all 441 cells match the authored PGM and YAML
PASS narrow: all 441 raw cost bytes match nearest-obstacle geometry and inflation formula
PASS wide: all 441 raw cost bytes match nearest-obstacle geometry and inflation formula
PASS comparison: 84 cells gain gradient cost; lethal, inscribed and unknown cells stay fixed
PASS configuration: both lifecycle nodes active; loaded parameters and published footprint checked
PASS cleanup: map server and costmap exit normally after lifecycle cleanup
ARTIFACTS /output/final-1