# Revision history [back]

The costmap is not automatically produced by the publication of a map, but rather by the configuration of your global_costmap.

What David Lu suggests in the linked answer is to use only a static layer (coming from the published map) which would create a costmap from the publish map, which is not what you want.

I have never done this before so I do not know how it would behave, but you could try edit your global_costmap.yaml to have a minimal config, without any layer, for example:

global_costmap:
map_type: costmap
global_frame    : map
robot_base_frame: base_footprint


Again, I am not sure what the result will be, mostly because it depends on how your global planner plugin interacts with the global costmap.