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First, I believe this warning is due to the fact that in your global_costmap_params.yaml, you set static_map to false, but do not set rolling_window to true, and it defaults to false. You're essentially telling the costmap that it does not have a map or that it does not exist.

Second, this might just be an artifact of ROS Answers, but your parameters should be indented under the namespaces:

    global_frame: odom

I'm assuming this is done, because I don't know if it would even run otherwise, but I just wanted to check.