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2 years late but anyone trying this must provide, as described in the above comment, the map->odom identity transform. This can be done with tf2_ros package:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0  map odom

You'll also need to modify the global_costmap in params.yaml to have rolling_window: True since you are not using any map. Also provide the window size, in my case 20x20 worked well. Also don't use the static layer since it does not make sense because there is no map. Then you are ready to send any goal.

For example the global_costmap can look like:

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: odom
      robot_base_frame: chassis
      use_sim_time: True
      rolling_window: True
      width: 20
      height: 20
      robot_radius: 0.5
      resolution: 0.05
      track_unknown_space: true
      plugins: ["obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        footprint_clearing_enabled: true
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          obstacle_range: 10.0
          raytrace_range:  10.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.4

2 years late but anyone trying this must provide, as described in the above stevemacenski's comment, the map->odom identity transform. This can be done with tf2_ros package:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0  map odom

You'll also need to modify the global_costmap in params.yaml to have rolling_window: True since you are not using any map. Also provide the window size, in my case 20x20 worked well. Also don't use the static layer since it does not make sense because there is no map. Then you are ready to send any goal.

For example the global_costmap can look like:

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: odom
      robot_base_frame: chassis
      use_sim_time: True
      rolling_window: True
      width: 20
      height: 20
      robot_radius: 0.5
      resolution: 0.05
      track_unknown_space: true
      plugins: ["obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        footprint_clearing_enabled: true
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          obstacle_range: 10.0
          raytrace_range:  10.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.4