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Try using a proper footprint instead of robot_radius in the root of the costmap config (e.g. footprint: [[0.1, 0.0], [0.0, 0.1], [0.0, -0.1], [-0.1, 0.0]])

It's counterintuitive, but you don't need to spawn the footprint layer. Your obstacle layer will create that on it's own. Take a look in the rqt dynamic reconfigure client to get an idea of how things are laid out after you initialize them.