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I have already done the following steps in order to make sonar layer working in costmap.

1. Downloaded range sensor plugin from https://github.com/DLu/navigation_layers.git, catkin make and copied the librange_sensor_layer.so and /include/range_sensor_layer (folder) to /ros/indigo/lib and /ros/indigo/include/ respectively

2. Added the range sensor plugin in local_costmap_params.yaml and global_costmap_params.yaml as : {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} and in common_costmap_params.yaml defined it as: sonar_layer: topics: ["/sonar"] no_readings_timeout: 1.0

   1. Having arduino publishing data on topic '/sonar'

Question.1: As you have seen that I have already added the plugin for range sensor layer, but when I run amcl, it lists one by one each layer like 'Using obstacle_layer, Using static_layer' etc, but does not show the message for Using sonar_layer. Will it be corrected after I update the urdf file with an entry for sonar layer or is it related to something else.

Question.2: To make the sonar layer update the costmap, is there any other step in addition to above 3 which I maybe missing (assuming the urdf step is also done since I am working on it now)

I have already done the following steps in order to make sonar layer working in costmap.

1. Downloaded range sensor plugin from https://github.com/DLu/navigation_layers.git, catkin make and copied the librange_sensor_layer.so and /include/range_sensor_layer (folder) to /ros/indigo/lib and /ros/indigo/include/ respectively

2. Added the range sensor plugin in local_costmap_params.yaml and global_costmap_params.yaml as : {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} and in common_costmap_params.yaml defined it as: sonar_layer: topics: ["/sonar"] no_readings_timeout: 1.0

   1. Having arduino publishing data on topic '/sonar'

Question.1: As you have seen that I have already added the plugin for range sensor layer, but when I run amcl, it lists one by one each layer like 'Using obstacle_layer, Using static_layer' etc, but does not show the message for Using sonar_layer. Will it be corrected after I update the urdf file with an entry for sonar layer or is it related to something else.

Question.2: To make the sonar layer update the costmap, is there any other step in addition to above 3 which I maybe missing (assuming the urdf step is also done since I am working on it now)

I have already done the following steps in order to make sonar layer working in costmap.

1. Having arduino publishing data on topic '/sonar'

2. Downloaded range sensor plugin from https://github.com/DLu/navigation_layers.git, catkin make and copied the librange_sensor_layer.so and /include/range_sensor_layer (folder) to /ros/indigo/lib and /ros/indigo/include/ respectively

3. Added the range sensor plugin in local_costmap_params.yaml and global_costmap_params.yaml as : {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"} and in common_costmap_params.yaml defined it as: sonar_layer: topics: ["/sonar"] no_readings_timeout: 1.0

   1. Having arduino publishing data on topic '/sonar'

Question.1: As you have seen that I have already added the plugin for range sensor layer, but when I run amcl, it lists one by one each layer like 'Using obstacle_layer, Using static_layer' etc, but does not show the message for Using sonar_layer. Will it be corrected after I update the urdf file with an entry for sonar layer or is it related to something else.

Question.2: To make the sonar layer update the costmap, is there any other step in addition to above 3 which I maybe missing (assuming the urdf step is also done since I am working on it now)