Revision history [back]

In case anyone has the same problem, I still have no idea what causes this, but I have worked around it by subscribing to the "map" topic, and during callback, copying the OccupancyGrid to a global character array. This includes unknown space, though it doesn't inflate obstacles in the way the Costmap2DROS object would have. I suppose if in the future I needed the inflation, I could use both methods and only copy unknown space in the callback.