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I figured it out

Basically, the cost_map settings do not change every time the move_base system is launched.

I will change the name of the topic of the laser in the cost_map.xml file, but it would not be updated in param_server for some reason. Hence, once I launched move_base it will still use the old topic name (this is how I found out...)

If I restarted ROS core (that restarts param_server), then it will start working.

Is this expected behaviour? do I have to close ROS Core every time?