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I reply the same problem at here: link text This answer is the same with link.

Hi there,

I met the same problem today, and I solved this problem.

1. Open global_costmap_params.yaml
2. Add below statement

rolling_window: true

Example in my global_costmap_params.yaml:

global_costmap: global_frame: /map robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 0.5 static_map: true transform_tolerance: 0.5
rolling_window: true plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

I hope this way also effective in your project!