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Basically there is a parameter in the configuration file of a costmap, as reported in the documentation:
~<name>/always_send_full_costmap (bool, default: false)
If true the full costmap is published to "~<name>/costmap" every update. If false only the part of the costmap that has changed is published on the "~<name>/costmap_updates" topic.
This will force to publish every time the full costmap.
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