fix: isolate RTAB-Map occupancy output during navigation

src/localization_pkg/launch/localization3d.launch.py

@@ -26,11 +26,16 @@ def launch_setup(context, *args, **kwargs):
     if not os.path.isfile(database_path):
         raise RuntimeError(f'3D localization database was not found: {database_path}')
 
-    remappings=[
+    remappings = [
-          ('/tf', 'tf'),
+        ('/tf', 'tf'),
-          ('/tf_static', 'tf_static'),
+        ('/tf_static', 'tf_static'),
-          ('odom', 'icp_odom'),
+        ('odom', 'icp_odom'),
-          ('scan_cloud', '/lidar_filtered')]
+        ('scan_cloud', '/lidar_filtered'),
+    ]
+    # Nav2 map_server owns /map during navigation and publishes the complete
+    # saved PGM map. Keep RTAB-Map's local occupancy update separate so it
+    # cannot race map_server and replace the navigation map intermittently.
+    rtabmap_remappings = [*remappings, ('map', '/rtabmap/map')]
     
     # Directories
     pkg_localization = get_package_share_directory(
@@ -72,7 +77,7 @@ def launch_setup(context, *args, **kwargs):
                     'odom_frame_id': 'icp_odom',
                     'publish_tf': True,
                 }],
-                remappings=remappings,
+                remappings=rtabmap_remappings,
             ),
         ],
     )