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In rviz you've used a Gridcells Display to try and visualise your costmap. The Grid cells display subscribes to nav_msgs::Gridcells, whereas your costmaps are published as nav_msgs::OccupancyGrid. Change your rviz configuration to use the Map Display type for your costmaps. The Map display type subscribe to nav_msgs::OccupancyGrid

cheers

Peter

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