Bug report

The global costmap used by nava2_planner is not updated after a lifecycle restart

• Operating System:
  • Ubuntu
• ROS2 Version:
  • Humble
• Version or commit hash:
  • Humble
• DDS implementation:
  • cyclonedds

Steps to reproduce issue

- Start the navigation stack
- Stop it using the lifecycle `deactivate` and `cleanup`
- Restart it using the lifecycle `configure` and `activate`

Expected behavior

The nav2_planner is restarted with a working costmap.

Actual behavior

The nav2_planner is restarted with a frozen costmap.
The costmap parameters are not accessible, the static_layer is not updated.

Additional information

This happens because the costmap thread is deleted in the on_cleanup() method and is not recreated in the configure process.
https://github.com/ros-planning/navigation2/blob/1cdc277b84115ee97c94b60b2a14630d097c6975/nav2_planner/src/planner_server.cpp#L255