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Sorry for a delay reply. And thank you for your answer. It was very helpful. I could get the segmentation error solved. However, I still had one query. What I am doing currently is separating costmaps from move base. So in movebase I use costmaps which are created basically in other node. You mentioned I need to do planner_costmap_ros_->stop() and/or controller_costmap_ros_->stop() before using the costmaps. So even for my requirement I should do this in move_base before using the costmaps?