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The map is a costmap. The purpose behind the costmap is to have the local area around the robot freshly mapped to prevent collision with a dynamic object. The costmap also inflates the objects in the costmap to the user specified inflation radius. You can see it as a published topic, even in rviz. The Odom is not the same as the localized pose. Odom starts when the motors turn. This is the robot's odometry frame. The robot localizes to the global frame.