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Just to clarify. The costmap_2d is capable of taking updates to the static map from a SLAM system such as gmapping. Any time a new map comes in over the /map topic, the static map used by the navigation stack is re-initialized. Are you sure that the global costmap of the navigation stack is configured to subscribe to this map? If so, you should be seeing the move_base node as subscribed to the /map topic.

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