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The error was, that use_collision_map actually wasn't enabled for the environment_server
.
I had used roslaunch --args
to produce a command for that 4-lines-include. But that was totally ignoring the include args like use_collision_map, therefore it didn't crash because of no map, but also was working without a map.
The collider
has to be started with the following to match the environment_server
's default topic. Like it's in the default launch file.
<remap from="collision_map_out" to="collision_map_occ" />