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or you could just use a range sensor layer: http://wiki.ros.org/range_sensor_layer

~~or you~~ You could just use a range sensor layer: http://wiki.ros.org/range_sensor_layer

The idea is that the laser adds to the obstacle layer as usual and the sonar add to a separate range sensor layer, then both are combined to the costmap.

Of yourse you need to switch your configuration to layered costmaps first.

My global_costmap_params.yaml (partial):

plugins:
  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

My local_costmap_params.yaml (partial):

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

sonar_layer:
  topics: ["/sonar_forward_lower"]
  no_readings_timeout: 1.0