static-layer

Add the StaticLayer plugin to the global costmap plugins list and set map_topic to your map_server topic, typically /map. Enable map_subscribe_transient_local so the layer receives the map even if it subscribes after map_server published.

An empty costmap usually means the static layer never received the map because it subscribed after map_server published. Set map_subscribe_transient_local to true for transient-local QoS, and verify the map with ros2 topic echo /map --once.

No. A local costmap with rolling_window enabled builds from live sensor data, so loading the full static map is wasteful and becomes stale relative to the robot's surroundings. Use obstacle or voxel layers in the local costmap instead.

trinary_costmap collapses OccupancyGrid values into three states: free (0), lethal (254), and unknown (255). Setting it to false scales the full 0-100 map range into 0-254 costmap values, preserving soft cost information from probabilistic SLAM maps.

Set subscribe_to_updates to true so the static layer subscribes to the map_updates topic, such as /map_updates from slam_toolbox. Keep map_subscribe_transient_local enabled so the initial full map is still received.