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I don't think this is your root problem, but you have some problems with your params. Splitting the params into two files is mostly for people who use a global and local costmap. Since you're just using the costmap_node (which has only one costmap), you can just define one param file. The params in the second file are not loaded to the correct place, since they will be loaded to /costmap_node/costmap/local_costmap/global_frame (for example) which is one too many namespaces.