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The navigation stack creates a set of costmaps directly from the lasers scan data and not the map created with hector or gmapping. The laserscan data may indicate a wall and this is loaded into the costmap to create the inflated obstacles. If the map from hector has not been updated yet then the inflated obstacle costmap may lie partly in unknown space. This creates problems when using hector or gmapping with the navigation and exploration packages due to the differences between the costmaps and the map. I'm not sure if anyone has figured out a way to solve this yet. The navigation tutorial uses a fully made map provided by the map server so there is less discrepancies between the costmaps and the map.