Can we navigate jackal using local costmap only?

edit

Short answer: No.

Longer answer: I'm pretty sure the local costmap expects the robot have a current pose on a "global map". Also, the navigation goal is specified as a pose in this map frame. The global map is allowed to be completely empty, making it pretty trivial to create. However, if the actual physical space is not empty, you can expect the global planning to be poor since you're not giving move_base good data to work with.