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At first, it seems like you have a problem with observation sources configuration;
observation_sources: my_sensor laser_cloud
laser_scan_sensor: {sensor_frame: my_sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: laser_cloud, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
You define your sources as my_sensor
and laser_cloud
but you name them as laser_scan_sensor
and point_cloud_sensor
. Therefore try changing to this;
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: my_sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: laser_cloud, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}