Costmap topics appear to be incorrect

[SteveMacenski]

I just found a relatively concerning problem where the collision checker in the spin recovery was looking at global_costmap/costmap_raw but the global costmap is actually publishing at costmap_raw so it was never getting any information!

We should look and make sure there's no other namespace / typo issues

[SteveMacenski]

I'm seeing 2 publishers on the namespace-less costmap topic, which i assume are the 2 costmaps, that's probably not good, there's got to be some folks not getting the information

[SteveMacenski]

There are agents subed to _raw, costmap, and updates, we need to rectify them a bit

Edit: New ticket for that #1028

[crdelsey]

Did you see this behavior before or after #999 went in? I think there is a bug in #999. I think it needs the same fix that was added in #1020

[SteveMacenski]

Agreed, I notice it fixed after I merged in #1020 but I was waiting on a confirmed reason why before closing out, but since you bring it up as well that's sufficient 👍