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I'm not sure I follow everything in your setup, but here's a couple of things that might help you understand what's goin on.

As you already saw, the data can be published in one of two places. costmap and costmap_updates

The data will be published in updates unless one of the following is true .

• The always_send_full_costmap parameter is true code
• The costmap changes size/origin code
• There is a new subscriber. The publisher uses a variant of the traditional advertise function to ensure the full grid is published to new subscribers.