Updating Slam / Cost map

edit

Probably a bad title but my SLAM map in RVIZ does not update when things change, so imagine I open a door, the actual map does not update but the dots from the SLAM do?

My local costmap has static_map = false but the global static_map is true?

local_costmap:
   global_frame: /map
   robot_base_frame: /scanmatcher_frame 
   update_frequency: 5.0 
   publish_frequency: 2.0
   static_map: false 
   rolling_window: true 
   width: 4.0 # The width of the map in meters. default 10
   height: 4.0 # The height of the map in meters. default 10
   resolution: 0.05 # The resolution of the map in meters/cell. default 0.05
   transform_tolerance: 0.5 

global_costmap:
   global_frame: /map
   robot_base_frame: /scanmatcher_frame 
   update_frequency: 1.0 
   publish_frequency: 0.5
   static_map: true # 
   transform_tolerance: 0.5


obstacle_range: 2.5 
raytrace_range: 3.0
footprint: [ [0.08, 0.08], [-0.08, 0.08], [-0.08, -0.08], [0.08, -0.08] ] 
inflation_radius: 0.3 
map_type: costmap 
observation_sources: scan bump 

scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}

TrajectoryPlannerROS:
# Robot Configuration Parameters
  max_vel_x: 0.5
  min_vel_x: 0.1

  max_vel_theta:  1.5  
  min_vel_theta: -1.5 
  min_in_place_vel_theta: 1.0

  acc_lim_x: 0.6
  acc_lim_theta: 1.0

# Goal Tolerance Parameters
  yaw_goal_tolerance: 3.14 
  xy_goal_tolerance: 0.15 

# Forward Simulation Parameters
  sim_time: 3.0
  vx_samples: 6
  vtheta_samples: 20 

# Trajectory Scoring Parameters
  meter_scoring: true
  pdist_scale: 0.6
  gdist_scale: 0.8 
  occdist_scale: 0.01 
  heading_lookahead: 0.325 
  dwa: true 

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 

# Differential-drive robot configuration
  holonomic_robot: false