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Hi, so what you should do is to have a look at the default configuration for costmaps. Therefore, have a look what gmapping starts to create the costmap. There are 3 launch files namely: common_costmap.yaml, local_costmap.yaml and global_costmap.yaml.

Add this configuration to your launch file and you are done! For example: global_frame: /world is definitely wrong!

Hope this helps. BR Daniel