I'm not getting a local costmap in the course project

When I launch the move_base node in the course project, I get this info on the console:

[ INFO] [1631304900.166759883, 150.704000000]: local_costmap: Using plugin "obstacles_layer"
[ INFO] [1631304900.175499146, 150.712000000]:     Subscribed to Topics:

Whereas previously with the Husky robot, I got:

[ INFO] [1631027762.231973278, 342.154000000]: local_costmap: Using plugin "obstacles_laser"
[ INFO] [1631027762.236516388, 342.159000000]:     Subscribed to Topics: laser

So this is making me think that for some reason, the laser information is not getting to my local costmap and that is why I am not able to display the local costmap in RVIZ.

I’m thinking that this is what is causing my robot to behave so badly. Any Idea what I need to do?

In the yaml file where you defined the obstacles_layer plugin you probably forgot to add the scan topic as observation source

Thanks for that suggestion. that helped.
However, the robot still seems hopelessly lost and unable to get started on a path to a navigation goal specified using the rviz interface. Here is the output of the console after I launch the /move_base node, then use rviz to first set a pose estimate then select a nearby (easy to reach) nav goal:

user:~$ roslaunch my_turtlebot_planning move_base.launch
... logging to /home/user/.ros/log/38a87c76-12db-11ec-a04c-0242c0a80007/roslaunch-1_xterm-23903.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://1_xterm:39711/

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_footprint
 * /amcl/global_frame_id: map
 * /amcl/gui_publish_rate: 10.0
 * /amcl/initial_pose_a: 0.0
 * /amcl/initial_pose_x: 0.0
 * /amcl/initial_pose_y: 0.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: diff
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /move_base/DWAPlannerROS/acc_lim_theta: 2.0
 * /move_base/DWAPlannerROS/acc_lim_x: 1.0
 * /move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base/DWAPlannerROS/global_frame_id: odom
 * /move_base/DWAPlannerROS/goal_distance_bias: 24.0
 * /move_base/DWAPlannerROS/holonomic_robot: False
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_vel_theta: 1.5
 * /move_base/DWAPlannerROS/max_vel_trans: 0.5
 * /move_base/DWAPlannerROS/max_vel_x: 0.5
 * /move_base/DWAPlannerROS/max_vel_y: 0.0
 * /move_base/DWAPlannerROS/min_vel_theta: 0.1
 * /move_base/DWAPlannerROS/min_vel_trans: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: 0.0
 * /move_base/DWAPlannerROS/min_vel_y: 0.0
 * /move_base/DWAPlannerROS/occdist_scale: 0.5
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 64.0
 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /move_base/DWAPlannerROS/publish_traj_pc: True
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_time: 2.0
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/theta_stopped_vel: 0.0
 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
 * /move_base/DWAPlannerROS/vtheta_samples: 20
 * /move_base/DWAPlannerROS/vx_samples: 6
 * /move_base/DWAPlannerROS/vy_samples: 1
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
 * /move_base/NavfnROS/allow_unknown: False
 * /move_base/NavfnROS/default_tolerance: 0.0
 * /move_base/NavfnROS/planner_window_x: 0.0
 * /move_base/NavfnROS/planner_window_y: 0.0
 * /move_base/NavfnROS/visualize_potential: False
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/controller_frequency: 5.0
 * /move_base/controller_patience: 15.0
 * /move_base/global_costmap/footprint: [[0.35, -0.3], [0...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/global_costmap/inflation_layer/enabled: True
 * /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
 * /move_base/global_costmap/obstacle_layer/observation_sources: rplidar_laser
 * /move_base/global_costmap/obstacle_layer/rpilidar_laser/clearing: True
 * /move_base/global_costmap/obstacle_layer/rpilidar_laser/data_type: LaserScan
 * /move_base/global_costmap/obstacle_layer/rpilidar_laser/marking: True
 * /move_base/global_costmap/obstacle_layer/rpilidar_laser/sensor_frame: base_scan
 * /move_base/global_costmap/obstacle_layer/rpilidar_laser/topic: /hokuyo_base/scan
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/plugins: [{'name': 'static...
 * /move_base/global_costmap/publish_frequency: 0.5
 * /move_base/global_costmap/raytrace_range: 3.0
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/static_layer/enabled: True
 * /move_base/global_costmap/static_layer/map_topic: /map
 * /move_base/global_costmap/static_layer/subscribe_to_updates: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 5.0
 * /move_base/local_costmap/footprint: [[0.35, -0.3], [0...
 * /move_base/local_costmap/footprint_padding: 0.0
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 5.0
 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/local_costmap/inflation_layer/enabled: True
 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
 * /move_base/local_costmap/obstacle_layer/observation_sources: rplidar_laser
 * /move_base/local_costmap/obstacle_layer/rpilidar_laser/clearing: True
 * /move_base/local_costmap/obstacle_layer/rpilidar_laser/data_type: LaserScan
 * /move_base/local_costmap/obstacle_layer/rpilidar_laser/marking: True
 * /move_base/local_costmap/obstacle_layer/rpilidar_laser/sensor_frame: base_scan
 * /move_base/local_costmap/obstacle_layer/rpilidar_laser/topic: /hokuyo_base/scan
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/plugins: [{'name': 'obstac...
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_link
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_layer/enabled: True
 * /move_base/local_costmap/static_layer/map_topic: /map
 * /move_base/local_costmap/static_layer/subscribe_to_updates: True
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 5.0
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 1.0
 * /move_base/planner_patience: 5.0
 * /move_base/recovery_behavior_enabled: True
 * /move_base/shutdown_costmaps: False
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://1_xterm:11311

process[map_server-1]: started with pid [23932]
process[amcl-2]: started with pid [23933]
process[move_base-3]: started with pid [23934]
[ INFO] [1631355731.951646629, 3639.632000000]: Requesting the map...
[ INFO] [1631355732.044894614, 3639.656000000]: Received a 1984 X 1984 map @ 0.050 m/pix

[ INFO] [1631355732.648126742, 3639.924000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1631355733.053887761, 3640.161000000]: Done initializing likelihood field model.
[ WARN] [1631355733.553998159, 3640.418000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1631355733.557006528, 3640.424000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1631355733.559639934, 3640.431000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1631355733.648087664, 3640.470000000]: Requesting the map...
[ INFO] [1631355733.860255460, 3640.681000000]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix
[ INFO] [1631355734.043262256, 3640.781000000]: Received a 1984 X 1984 map at 0.050000 m/pix
[ INFO] [1631355734.043339501, 3640.781000000]: Subscribing to updates
[ INFO] [1631355734.049925281, 3640.787000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1631355734.059470902, 3640.791000000]:     Subscribed to Topics: rplidar_laser
[ INFO] [1631355734.342893591, 3640.933000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1631355734.749740081, 3641.122000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1631355734.751001054, 3641.125000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1631355734.752109017, 3641.127000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1631355734.759779108, 3641.141000000]:     Subscribed to Topics: rplidar_laser
[ INFO] [1631355734.847526910, 3641.156000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1631355735.149740400, 3641.273000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1631355735.156911559, 3641.286000000]: Sim period is set to 0.20
[ WARN] [1631355735.167194976, 3641.304000000]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [1631355735.167788128, 3641.305000000]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [1631355735.168391792, 3641.305000000]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1631355735.168823102, 3641.305000000]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [1631355735.243089076, 3641.305000000]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3641.579000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3641.579000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355735.944309776, 3641.678000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1631355735.952075518, 3641.715000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1631355736.238412973, 3641.840000000]: odom received!
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3645.601000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3645.601000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3651.242000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3651.242000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355763.350000124, 3656.668000000]: Setting pose (3656.668000): 0.102 0.230 0.034
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3661.757000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3661.757000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3662.627000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3662.627000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3666.930000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3666.930000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1631355786.346197240, 3669.158000000]: Clearing both costmaps to unstuck robot (3.00m).
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3670.263000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3670.263000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3673.399000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3673.399000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1631355796.349657046, 3674.362000000]: Rotate recovery behavior started.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3678.098000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3678.098000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355808.554632746, 3681.417000000]: Got new plan
[ERROR] [1631355808.554932574, 3681.417000000]: Extrapolation Error: Lookup would require extrapolation -0.041000000s into the future.  Requested time 3681.400000000 but the latest data is at time 3681.359000000, when looking up transform from frame [odom] toframe [map]

[ERROR] [1631355808.554987601, 3681.417000000]: Global Frame: odom Plan Frame size 19: map

[ WARN] [1631355808.555031618, 3681.417000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355808.555066387, 3681.417000000]: Could not get local plan
[ WARN] [1631355808.863791260, 3681.616000000]: Clearing both costmaps to unstuck robot (3.00m).
[ INFO] [1631355809.740570967, 3682.015000000]: Got new plan
[ERROR] [1631355809.740741458, 3682.015000000]: Extrapolation Error: Lookup would require extrapolation -0.036000000s into the future.  Requested time 3681.994000000 but the latest data is at time 3681.958000000, when looking up transform from frame [odom] toframe [map]

[ERROR] [1631355809.740794416, 3682.015000000]: Global Frame: odom Plan Frame size 19: map

[ WARN] [1631355809.740830999, 3682.015000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355809.740862956, 3682.015000000]: Could not get local plan
[ WARN] [1631355810.245261100, 3682.216000000]: Rotate recovery behavior started.
[ INFO] [1631355821.750200680, 3688.668000000]: Got new plan
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3688.828000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3688.828000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355822.141185631, 3688.883000000]: Got new plan
[ERROR] [1631355822.141343152, 3688.886000000]: Extrapolation Error: Lookup would require extrapolation -0.028000000s into the future.  Requested time 3688.828000000 but the latest data is at time 3688.800000000, when looking up transform from frame [odom] toframe [map]

[ERROR] [1631355822.141392909, 3688.886000000]: Global Frame: odom Plan Frame size 19: map

[ WARN] [1631355822.141435540, 3688.886000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355822.141473735, 3688.886000000]: Could not get local plan
[ WARN] [1631355822.538375406, 3689.078000000]: Clearing both costmaps to unstuck robot (1.84m).
[ INFO] [1631355823.059317755, 3689.469000000]: Got new plan
[ERROR] [1631355823.059827555, 3689.469000000]: Extrapolation Error: Lookup would require extrapolation -0.065000000s into the future.  Requested time 3689.466000000 but the latest data is at time 3689.401000000, when looking up transform from frame [odom] toframe [map]

[ERROR] [1631355823.059891251, 3689.469000000]: Global Frame: odom Plan Frame size 19: map

[ WARN] [1631355823.059945525, 3689.469000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355823.059994299, 3689.469000000]: Could not get local plan
[ WARN] [1631355823.447105019, 3689.671000000]: Rotate recovery behavior started.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3689.698000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3689.698000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
^C[move_base-3] killing on exit

check your tf tree with rosrun rqt_tf_tree rq_tf_tree and with roswtf
There might be smth wrong with them

Thanks. I will try your suggestions to see if I can learn more.
However, I did a Google search on this and discovered that this particular warning message is discussed in a ROS github forum and it appears to be well known and is more of an annoyance than an actual problem.

As an alternative path for me to move forward on this, may I request that if anyone has successfully launched the /move_base node on the course project, would you be so kind as to post a copy of your console output so that I might compare it to mine and hopefully learn what I have configured incorrectly.