Hello, first let me say, that this error is of course not unique and i tried nearly all of the numerous hints i found here and in other forums.

I am trying to use the teblocalplanner with a carlike-robot, but I need to use gazebo with GPS simulation instead of the ros-stage simulation with AMCL.

So in RVIZ i get the message, that global and local costmap are not receiving a map, which fits to the error.

 [INFO] [1615145474.783383, 0.594000]: Loading controller: swerve_controller
        [WARN] [1615145474.787266, 0.596000]: heading not yet received
                                                                      [WARN] [1615145474.796941, 0.599000]: heading not yet received
                                                    [ WARN] [1615145474.843092297, 0.613000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
                    [ WARN] [1615145474.853544668, 0.617000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
                                                                  [ INFO] [1615145474.860873448, 0.620000000]: global_costmap: Using plugin "static_layer"
                                                                          [ INFO] [1615145474.905840959, 0.644000000]: Requesting the map...
                                                            [ INFO] [1615145474.923638758, 0.656000000]: Controller state will be published at 50Hz.
                                                                    [ INFO] [1615145474.927562794, 0.657000000]: Velocity commands will be considered old if they are older than 5s.
                    [ INFO] [1615145474.938281821, 0.662000000]: Base frame_id set to body
          [ INFO] [1615145474.941507534, 0.664000000]: Publishing to tf is disabled
   [ INFO] [1615145474.988495704, 0.686000000]: Some geometric parameters are not provided in the config file.Parsing from URDF!
                                                [ INFO] [1615145475.014001171, 0.700000000]: Odometry params : track 0.992, wheel radius 0.24, wheel base 0.8, wheel steering offset 0.191
                          [ INFO] [1615145475.047899247, 0.713000000]: Adding LF wheel with joint name: wheel_lf_joint, RF wheel with joint name: wheel_rf_joint, LH wheel with joint name: wheel_lh_joint, RH wheel with joint name: wheel_rh_joint
    [ INFO] [1615145475.049228544, 0.714000000]: Adding LF steering with joint name: leg_lf_joint, RF steering with joint name: leg_rf_joint, LH steering with joint name: leg_lh_joint, RH steering with joint name: leg_rh_joint
                                                                  [INFO] [1615145475.070940, 0.721000]: Controller Spawner: Loaded controllers: joint_state_controller, swerve_controller
                         [INFO] [1615145475.114928, 0.734000]: Started controllers: joint_state_controller, swerve_controller
                                             [ INFO] [1615145475.154315546, 0.756000000]: Resizing costmap to 788 X 321 at 0.200000 m/pix
                                                         [ INFO] [1615145475.362198142, 0.853000000]: Received a 788 X 321 map at 0.200000 m/pix
                                                                [ INFO] [1615145475.371455674, 0.859000000]: global_costmap: Using plugin "obstacle_layer"
                                                                          [ INFO] [1615145475.381234107, 0.866000000]:     Subscribed to Topics: laser_scan_sensor
  [ INFO] [1615145475.480182212, 0.922000000]: global_costmap: Using plugin "inflation_layer"
             [ WARN] [1615145475.705353722, 1.021000000]: Costmap2DROS transform timeout. Current time: 1.0210, global_pose stamp: 0.0000, tolerance: 0.5000
                                                                           [ WARN] [1615145475.762495939, 1.054000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
                                          [ WARN] [1615145475.764276518, 1.054000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
       [ INFO] [1615145475.771441181, 1.056000000]: local_costmap: Using plugin "static_layer"
              [ INFO] [1615145475.788734963, 1.069000000]: Requesting the map...
[ WARN] [1615145475.799362653, 1.073000000]: Could not get robot pose, cancelling reconfiguration
                 [ INFO] [1615145475.799826190, 1.073000000]: Resizing static layer to 788 X 321 at 0.200000 m/pix
                                  [ INFO] [1615145476.018285015, 1.176000000]: Received a 788 X 321 map at 0.200000 m/pix
                                         [ INFO] [1615145476.066187020, 1.196000000]: local_costmap: Using plugin "obstacle_layer"
                                                  [ INFO] [1615145476.089338139, 1.205000000]:     Subscribed to Topics: laser_scan_sensor
                                                          [ INFO] [1615145476.326130798, 1.323000000]: Created local_planner teb_local_planner/TebLocalPlannerROS
 [ INFO] [1615145476.729292864, 1.516000000]: Footprint model 'line' (line_start: [0,0]m, line_end: [0.4,0]m) loaded for trajectory optimization.
                                                                 [ INFO] [1615145476.729630387, 1.516000000]: Parallel planning in distinctive topologies enabled.
  [ INFO] [1615145476.729713814, 1.517000000]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.
                                                                 [ WARN] [1615145477.801064802, 2.021000000]: Costmap2DROS transform timeout. Current time: 2.0210, global_pose stamp: 0.0000, tolerance: 0.5000

What I have already checked, based on other entries, is the synchronisation of time-use. /usesimtime is set to true in the initial launch file and /clock is subcribed.

    <!--  Simulate a carlike robot with the teb_local_planner in stage: - stage  - map_server  - move_base  - static map  - amcl  - rviz view -->

<launch>


        <!--  ************** Global Parameters ***************  -->
      <param name="/use_sim_time" value="true"/>

        <arg name="target_x_vel" default="2.3"/>
        <arg name="target_yaw_vel" default="0.8"/>
        <arg name="robot_radius" default="0.1"/>
        <arg name="tool_radius" default="0.1"/>


  <include file="$(find swerve_controller)/test/launch/swervebot.launch"/>
  <include file="$(find innok_gps_localization)/launch/sim_gps_localization.launch" />

        <!--  ************** Navigation ***************  -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

      <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/teb_local_planner_params.yaml" command="load" />


          <param name="tf_timeout" value="10.0"/>
        <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
        <param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
        <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>


        <param name="base_global_planner" value="full_coverage_path_planner/SpiralSTC" />       
        <param name="planner_frequency" value="0.0" />  
        <param name="planner_patience" value="0.50" />
            <remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>

        <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
        <param name="controller_frequency" value="5.0" />
        <param name="controller_patience" value="15.0" />

       <param name="clearing_rotation_allowed" value="false" /> <!-- Our carlike robot is not able to rotate in place -->
    </node>

<!--  ****** Maps *****  -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/occupancy_map.yaml" output="screen">
                <param name="frame_id" value="map"/>
    </node>


<!-- Trigger planner by publishing a move_base goal -->
    <node name="publish_simple_goal" pkg="rostopic" type="rostopic"  launch-prefix="bash -c 'sleep 1.0; $0 $@' "
        args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>

      <!--  **************** Visualisation ****************  -->
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/>

</launch>

I also read about a possible influence of the hz-rate of the publisher. Here is a pic from viewframes, which shows some problems in transform from map to baselink and further. Maybe the reason for this is the same, but also on this side, i didn't know how to proceed.

Here is also the costmap_params.yaml:

  global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true

  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

Maybe someone of you has a hint for me, which helps me with these issues. Let me know, what information is missing to analyse the situation, it's my first question here. Thanks in advance!