How to subscribe a new costmap2dROS object to the global_costmap/costmap

Hi all, I am planning to write my own node in ROS and I need to access the `global_costmap` which is being published. For that, I have created a new Costmap2DROS object: int main(int argc, char** argv){ ros::init(argc,argv,"publish_multiple_goals"); ros::NodeHandle n; tf::TransformListener tf_(ros::Duration(10)); costmap_ros_ = new costmap_2d::Costmap2DROS("my_costmap", tf_); costmap_ros_->start(); costmap_ = costmap_ros_->getCostmap(); return 0; } Now, I have a `my_costmap_params.yaml` file where I have specified the `map_topic` : `/move_base_node/global_costmap/costmap` (this is being published by move_base) so that the new costmap2DROS object subscribes to it: my_costmap: #Set the global and robot frames for the costmap global_frame: /map robot_base_frame: /base_link #Set the update and publish frequency of the costmap update_frequency: 2.0 publish_frequency: 2.0 #We'll use a map served by the map_server to initialize this costmap static_map: true rolling_window: false use_dijkstra: false plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} static_layer: map_topic: /move_base_node/global_costmap/costmap #Configuration for the sensors that the costmap will use to update a map obstacle_layer: observation_sources: base_scan base_scan: {data_type: LaserScan, sensor_frame: /base_laser_link_1, topic: /base_scan, expected_update_rate: 0.4, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.0} I am loading the above parameters to `parameter_server` here: **publish_multiple.xml** Now the problem is it still subscribes to the "map" topic published by the `map_server` and does not subscribe to the `map_topic` I mentioned above that is `/move_base_node/global_costmap/costmap` using the **costmap2DROS** object I created above. I want to make sure that the **costmap2DROS** object created above subscribes to the `map_topic` to get the `global_costmap`. Does anyone have any idea what is going wrong here or what can I do to achieve the above mentioned task? Let me know if you need more information from me. **Update:** I think I am able to subscribe to the `global_costmap` but still when I use functions like: `costmap_ros_->getRobotFootprint()`, it gives me wrong readings (when I use this function in the global planner plugin, it gives me the correct values). Also, the Cost values of the costmap is either 0 or 254. Shouldn't the inflation be there according to http://wiki.ros.org/costmap_2d#Inflation ? Any help will be appreciated. Thanks in advance. Naman Kumar