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If you are using gmapping, you have to set static map to false in the global costmap param, since you are not using any previous created map, you are using the map created with slam gmapping. An example of how to set this could be:

static_map: false width: 40.0 height: 40.0 origin_x: -20.0 origin_y: -20.0

Note that the origin of the map is the center of it. Also you can use any size you want for it.