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I just got my navigation stack up and running and had much the same issue.
The RViz with Navigation Tutorial does not seem to be up to date with the verion of RViz or gmapping that I am using, as the video has you adding Grid Cells for displaying obstacles, costmaps, and inflation data.
The problem is that Grid Cells utilizes nav_msgs::GridCells messages and the topics which publish obstacle, costmap, and inflation data are nav_msgs::OccupancyGrid messages.
The way to display this information is to add two Map displays. One with the topic /move_base/local_costmap/costmap and the other with /move_base/global_costmap/costmap.
I hope this helps. If it does not, please let me know and we will try to get you through this.
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