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As can be seen the main problem is that the scan topic is not being read by move_base. Apparently this is because I am using gmapping instead of amcl, since when I change to amcl it works OK.
In case of gmapping, thanks to this answer, I finally managed to solve the problem by setting the following in the global_costmap_params.yaml:
static_map: false
rolling_window: true
However it imposes a huge computational burden on the system and the computer on board starts to run slowly. I guess there should be a better way to do that. In such a way that the global planner plans using the static map and the local planner takes care of obstacle avoidance. Any ideas?
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