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If you want to use only a cost map, you should only use costmap_2d_node. As follows

  <! -- Run the costmap node -->
  <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
    <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
  </node>

Note: ns is not local_costmap, you will need to edit local_costmap_params.yaml.

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