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If you want to visualize the trajectory cloud and the cost cloud, you have to set the publish_traj_pc and publish_cost_grid_pc parameters respectively. These aren't dynamic_reconfigure parameters, so you'll have to set them directly in your local planner parameters.

This isn't well documented. I had to go to the source to find the relevant parameters: https://github.com/ros-planning/navigation/blob/ab3cdff51fa062845be8da4cf1e58f5fc56abab9/dwa_local_planner/src/dwa_planner.cpp#L154-L163