ros2 humble navigation2 local costmap

[wangtao90725]

ros2 humble navigation

I am using the version of ros2 humble for simulation testing

Use the navigation2 routine turtlebot3 for simulation testing, and two problems are found.

The first problem: the static map is not displayed in rviz. Later, it was found that this item in the navigation configuration parameters was changed to robot_ model_ Type: "nav2_amcl:: DifferentialMotionModel" can display the static map

The second problem is that the local cost map is not displayed all the time, which causes the local planner to be unable to identify real-time obstacles. I checked the routine video and found that the local cost map is also not display

ed, indicating that the problem exists in the built-in routine itself

I can't solve it yet. Please help me

[SteveMacenski]

See #3014