Local map is empty, global map not updating any new obstacles

[AgentRegi]

Hello dear nav2 team,
I have an issue with the getting started setup (https://navigation.ros.org/getting_started/index.html) for ros humble running on Ubuntu 22.04.
When I start the launch file (ros2 launch nav2_bringup tb3_simulation_launch.py) my local map stays empty.
It is published but all grid cells are 0, I have this grey rectangle around the robot in rivz.
Even when I insert new obstacles in gazebo the global map is not updated accordingly.

The laser scan in rviz looks fine and the localization works too (even slam_toolbox is doing what it should with slam:=True). I can navigate but only based on static map plugin in the global map (I guess).
The global and local costmap also subscribing to the /scan topic (ros2 node info (e.g.) /local_costmap/local_costmap)
I also checked various local costmap parameters and from the outside everything looks alright.

I guess it has something to do with the scan topic. I have the feeling the sensor callback is not executed.
Before I take a closer look at the code (my first step would be check the scan callbacks of the costmaps), I would like to ask if somebody else had this issue.

It is probably something very dumb from my side but I can't wrap my head around it. Because from checking everything that I know from ROS1 there should be no problem. Could it be an rviz visualization issue.

Best
Regi

[automech-rb]

Check #3014

[AgentRegi]

Hi,
thank you. But I am still not sure how to fix it, should I follow this discussion ros2/rmw_fastrtps#619.
Sorry for the noob question, but by quickly flying over the discussions I could not figure out how to solve this issue.
I mean perhaps I will take some time to see exactly what is going on and how to patch it. But perhaps there is like a less cryptic way of finding this out. But thank you I will try to figure this out.

[automech-rb]

Sorry for my short answer. Easiest method is you can try changing your DDS to cycloneDDS.

[AgentRegi]

Aha ok. What I did is building the https://github.com/ros2/rmw_fastrtps package humble branch in a ros ws together with nav2 repo. Now the costmap update works. And the costmaps are as they used to be.
Thanks I am happy now.

[TheConstructAi]

Is this the official solution? Its strange for me that even in the demo example this is the case.
Has there been a fix of that? @SteveMacenski

[SteveMacenski]

For the moment, Fast-DDS is not usable with Nav2 (and probably other common packages) until they fix and release the patches to these issues. Instead, use Cyclone DDS.