Hello,

In my costmapcommonparams.yaml i have the following sources:

observation_sources: scan bump

scan: {data_type: LaserScan, topic: base_scan, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 1.0}
bump: {data_type: PointCloud2, topic: pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}

But for some reason when using rostopic echo /base_scan it only shows the subscribers:

rostopic info /base_scan 
Type: sensor_msgs/LaserScan

Publishers: 
 * /depthimage_to_laserscan (http://gijs-Latitude-E7470:41504/)

Subscribers: 
 * /amcl (http://gijs-Latitude-E7470:43920/)
 * /rviz (http://gijs-Latitude-E7470:46177/)
 * /rtabmap/rtabmapviz (http://gijs-Latitude-E7470:37322/)
 * /rtabmap/rtabmap (http://gijs-Latitude-E7470:46750/)

While it should also say /movebasenode for the local costmap. Which can be seen at rostopic echo /pointcloud

rostopic info /base_scan 
Type: sensor_msgs/LaserScan

Publishers: 
 * /depthimage_to_laserscan (http://gijs-Latitude-E7470:41504/)

Subscribers: 
 * /amcl (http://gijs-Latitude-E7470:43920/)
 * /rviz (http://gijs-Latitude-E7470:46177/)
 * /rtabmap/rtabmapviz (http://gijs-Latitude-E7470:37322/)
 * /rtabmap/rtabmap (http://gijs-Latitude-E7470:46750/)

What is wrong with my setup?

EDIT: Another weird thing I found out is that even when removing this line

bump: {data_type: PointCloud2, topic: pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}

It will still work with the bumper sensor but not with the laserscan for some reason.