pointcloud scan not working in move base

edit

I am using range data and laserscan data in my move base param. Here what i found is that when i use the laserscan data from rplidar directly move base working fine. But when i use the laserscan being converted from point cloud to laserscan package, it is not working in move base. Also if i only use the pointcloud scan only in move base without range data it works fine. Here are config files.

common_costmap_param.config

robot_radius: 0.35

inflation_layer:
  inflation_radius: 1.0
  cost_scaling_factor: 5.0

obstacle_layer:
  max_obstacle_height: 0.80
  obstacle_range: 2.0
  raytrace_range: 2.5
  map_type: costmap

  observation_sources: scan
  scan: {sensor_frame: camera_depth_virtual_frame, data_type: LaserScan, topic: depth/scan_filtered, marking: true, clearing: true}

range_sensor_layer:
  clear_threshold:    0.46
  mark_threshold:     0.98
  clear_on_max_reading: true
  topics: ["/ultrasonic/ir_back"]

local_costmap_param.config:
local_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 5.0
  publish_frequency: 2.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 4.5
  height: 4.5
  resolution: 0.05

  plugins:
  - {name: range_sensor_layer,   type: "range_sensor_layer::RangeSensorLayer"}
  - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap_param.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 1.0
  publish_frequency: 0.5
  transform_tolerance: 0.5

  static_map: true

  plugins: 
    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: range_sensor_layer,   type: "range_sensor_layer::RangeSensorLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

point cloud to scan param:

<?xml version="1.0"?>

<launch>
    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

        <remap from="cloud_in" to="camera/depth/points"/>
        <remap from="scan" to="depth/scan_filtered"/>
        <rosparam>
            target_frame: camera_depth_virtual_frame # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -1
            max_height: 1

            angle_min: -1.5708 # -M_PI/2
            angle_max: 1.5708 # M_PI/2
            angle_increment: 0.0087 # M_PI/360.0
            scan_time: 0.3333
            range_min: 0.45
            range_max: 5
            use_inf: false

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

</launch>

Here when i feed the both scan from point cloud to scan filter and range sensor only costmap from range data is working. And if i only use scan from ponit cloud scan filter it works fine.

Here is the rviz screenshot: Here the organge represents the scan data converted from point cloud to laserscan converter which is correct.

Here is the gazebo screenshot:

Here is the node graph:

Here is the tf graph:

Here is the demonstration of all the working, i've also captured the rviz window in it.