Bug report

/local_costmap/costmap or /global_costmap/costmap topics header stamps are set to 0. Is this somehow intentional?

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic binaries
• Version or commit hash:
  • Galactic binaries 1.0.8-1focal.20220211
• DDS implementation:
  • Cyclone

Steps to reproduce issue

Launch the nav2 stack as usual then see /local_costmap/costmap or /global_costmap/costmap topics header and note that they are set to 0.

Expected behavior

Header stamps consistent with system time

Actual behavior

Header stamps set to 0

Additional information

I see that the header stamp is set here to

  grid_->header.stamp = rclcpp::Time();

which AFAIK is the reason it is set to 0.