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You have to modify whats in your local_costmap_params.yaml. First you have to make sure that you are not using a static map, "static_map:false", and then you just add the size of the costmap with "width: X" "height: Y", furthermore you should make sure that you use a rolling window map with the local costmap "rolling_window: true". For further imformation you can check this wiki http://wiki.ros.org/costmap_2d .