Hey,<br> <br>    I am trying to create a costmap using the COstmap_2d::Costmap2dros wrapper. I have all the proper parameters set up for the map and I have a pointer that points to the map that is created. I also do COstmap-&gt;start after I initialise the costmap. But, the costmap that I create doesnt seem to be publishing anything like the Inflated Obstacles or the Free space etc. DO I have to do some other stuff to get the costmap to publish this information?  Also, how can I check to see if the map is correctly being initialised? Thanks for your help..<br>
 <br>Arun<br>