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After more debugging I found out why move_base stoped publishing costmaps: During the migration to Hydro I tried to configure plugins for layered costmaps myself. Because I was having trouble with the name space of the laser scan sensor, I added the "obstales" namespace specifier in the "common_costmap_params.yaml" file:

obstacles:
  observation_sources: laser_scan_sensor

When I later removed the "plugins" from the local and global costmap configuration (going back to pre-hydro compatibility mode) I forgot to remove the "obstacles:" namespace specification. D'oh!