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From the circumstances, it appears that the local cost map is failing to be created.

I suggest that you try to run the local cost map in rviz while visualizing it. The recovery operation will clear the local cost map. And I think we can observe that the DWA planner runs after it is cleared.

If the cause is determined by the local cost map, I expect that trying the following will help identify the cause.

• Activate the local_costmap plugins one by one.
  • At first, experiment with static_layer only.
  • Next, experiment with static_layer and obstacle_layer.