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@kllysin Hello! did you manage to figure this out? A few things that came to my mind after reading this, let me know if these match to what your solution was :

1. Your local costmap params and global costmap params in the answer are exactly same but I am assuming this is a typo mistake

2. In the global costmap params, to my knowledge if you want to add a known map as a layer to the global costmap you need to specify it as a plugin apart from setting the static_map parameter to true as follows :

   plugins:

   • {name: static_layer, type: "costmap_2d::StaticLayer"}

3. Then you can also choose from the static map layer parameters from http://wiki.ros.org/costmap_2d/hydro/staticmap that you want to specify in the global costmap params too. This is especially important because you need to point your static layer to listen to the right topic wherever your known map is getting published. Sample :

static_layer: map_topic: /my_topic_name

@kllysin Hello! did you manage to figure this out? A few things that came to my mind after reading this, let me know if these match to what your solution was :

1. Your local costmap params and global costmap params in the answer are exactly same but I am assuming this is a typo mistake

2. In the global costmap params, to my knowledge if you want to add a known map as a layer to the global costmap you need to specify it as a plugin apart from setting the static_map parameter to true as follows :

   plugins:

   • {name: static_layer, type: "costmap_2d::StaticLayer"}

3. Then you can also choose from the static map layer parameters from http://wiki.ros.org/costmap_2d/hydro/staticmap that you want to specify in the global costmap params too. This is especially important because you need to point your static layer to listen to the right topic wherever your known map is getting published. Sample :

static_layer: - map_topic: /my_topic_name

@kllysin Hello! did you manage to figure this out? A few things that came to my mind after reading this, let me know if these match to what your solution was :

1. Your local costmap params and global costmap params in the answer are exactly same but I am assuming this is a typo mistake

2. In the global costmap params, to my knowledge if you want to add a known map as a layer to the global costmap you need to specify it as a plugin apart from setting the static_map parameter to true as follows :

   plugins:

   • {name: static_layer, type: "costmap_2d::StaticLayer"}

3. Then you can also choose from the static map layer parameters from http://wiki.ros.org/costmap_2d/hydro/staticmap that you want to specify in the global costmap params too. This is especially important because you need to point your static layer to listen to the right topic wherever your known map is getting published. Sample :

static_layer: - static_layer: map_topic: /my_topic_name