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I believe that setting both static_map and rolling_window to false for a costmap is undefined behavior. One of those should be set to true if you want the costmap to actually do anything.

Also, in your map_server launch, you seem to have forgotten a closing </node> tag.

I believe that setting both static_map and rolling_window to false for a costmap is undefined behavior. behavior (this is how your global_costmap is configured). One of those should be set to true if you want the costmap to actually do anything.

Also, in your map_server launch, you seem to have forgotten a closing </node> tag.