I would like to use the ZED Mini camera for navigation without a laser.

The move_base node does not subscribe to zed's PointCloud sensor. Could you tell me how to solve it?

The commands are listed below.

$ roslaunch zedwrapper zedm.launch
$ roslaunch mynode move_base.launch

link(zedm.launch)

move_base.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="move_base" type="move_base" name="move_base">
    <rosparam file="$(find my_node)/params/move_base_params.yaml" command="load" />
    <rosparam file="$(find my_node)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find my_node)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_node)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <remap from="odom" to="/zed/zed_node/odom" />
</node>
</launch>

costmapcommonparams.yaml

obstacle_range: 2.0 
raytrace_range: 2.5 
footprint: [[0.15, 0.15], [-0.15, 0.15], [-0.15, -0.15], [0.15, -0.15]]

observation_sources: point_cloud_sensor
point_cloud_sensor: {
  data_type: PointCloud2,
  topic: /zed/zed_node/point_cloud/cloud_registered,
  marking: true,
  clearing: true,
  inf_is_valid: true
}

I'm using Jetson TX1, Ubuntu 16.04, ROS kinetic and zedm camera.

---

editted:
The zed mini point cloud message is published correctly. It was displayed in rviz. I also confirmed the following command.

$ rostopic echo /zed/zednode/pointcloud/cloudregistered
header:
seq: 3853
stamp:
secs: 1560859786
nsecs: 781150744
frameid: "zedleftcamera_frame"
height: 376
width: 672
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
...

The topic list is below.

$ rostopic list | grep pointcloud
/zed/zednode/pointcloud/cloudregistered
/zed/zednode/pointcloud/fusedcloudregistered

Also, I checked the strange behavior.
The movebase subscribed to the point cloud node of zed mini only for a moment immediately after launching movebase. After that, move_base does not subscribe to that point cloud.