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The costmap object needs to transform all of the input data into a common frame before it can be combined (usually the map frame.) That's why it needs a TF Buffer object.

Make sure you understand the distinction between "creating/updating a costmap", and "reading costmap data". Normally move_base does the first, and your ros node does the second (by subscribing to a topic.)

The costmap object needs to transform all of the input data into a common frame before it can be combined (usually combined. Usually the map frame.) frame is used as the common frame. That's why it costmap needs a TF Buffer object.

Make sure you understand the distinction between "creating/updating a costmap", and "reading costmap data". Normally move_base does the first, and your ros node does the second (by subscribing to a topic.)