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I figured it out.... I wasn't specifing the robot footprint correctly in costmap_common_params.yaml.

However, now i'm getting the following warning from move_base.

The origin for the sensor at (1.49, -0.10) is out of map bounds. So, the costmap cannot raytrace for it.

I have static map set to true for the global_costmap and false for the local_costmap. In rviz it shows the robot_footprint inside the map.

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