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Hi,layale.saab

I have the similar work with you.I have a 2D laidr sensor and a 3D depth sensor and the obstacle_layer, static_layer, inflation_layer and the voxel_layer all work in a costmap (2D).I transform voxel_grid topic to pointcloud,so I could add the voxel_grid in the rviz , I have make a test in navigation , in my test,the voxel_grid add only, do not eliminate in my rviz .That is to say, only add obstacles(voxel_grid), the obstacle in the costmap_2d not clear, Did you encounter this problem?

local_costmap_params.yaml

local_costmap:     
   global_frame: /odom
   robot_base_frame: /base_link 
   update_frequency: 3
   publish_frequency: 3
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.025
   transform_tolerance: 1.0
   map_type: costmap

   #static_layer:
     #enabled: false

   plugins:
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,   type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml

    global_costmap:
       global_frame: /map
       robot_base_frame: /base_link    
       update_frequency: 3
       publish_frequency: 0.2
       static_map: true
       rolling_window: false
       resolution: 0.025
       transform_tolerance: 1.0
       map_type: costmap
       static_layer:
            enabled: false

costmap_common_params.yaml

inflation_layer:
  cost_scaling_factor: 0.5  
  inflation_radius: 0.35 #0.45
  robot_radius: 0.35

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3.0
  max_obstacle_height: 1.6 #1.3
  min_obstacle_height: 0.03
  observation_sources: scan
  scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0, inf_is_valid: true}


voxel_layer:
  enabled: true
  origin_z: 0.0
  z_resolution: 0.05
  z_voxels: 10
  unknown_threshold: 0
  #mark_threshold: 2
  publish_voxel_map: true
  combination_method: 1
  observation_sources: output_points
  output_points:
    data_type: PointCloud2
    topic: /output_points
    marking: true
    clearing: true
    obstacle_range: 1.90
    raytrace_range: 2.00
    min_obstacle_height: 0.00
    max_obstacle_height: 3.00
    mark_threshold: 3
    observation_persistence: 2.0

Hi,layale.saab

I have the similar work with you.I have a 2D laidr sensor and a 3D depth sensor and the obstacle_layer, static_layer, inflation_layer and the voxel_layer all work in a costmap (2D).I transform voxel_grid topic to pointcloud,so I could add the voxel_grid in the rviz , I have make a test in navigation , in my test,the voxel_grid add only, do not eliminate in my rviz .That is to say, only add obstacles(voxel_grid), the obstacle in the costmap_2d not clear, Did you encounter this problem?

the problem link

local_costmap_params.yaml

local_costmap:     
   global_frame: /odom
   robot_base_frame: /base_link 
   update_frequency: 3
   publish_frequency: 3
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.025
   transform_tolerance: 1.0
   map_type: costmap

   #static_layer:
     #enabled: false

   plugins:
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,   type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml

    global_costmap:
       global_frame: /map
       robot_base_frame: /base_link    
       update_frequency: 3
       publish_frequency: 0.2
       static_map: true
       rolling_window: false
       resolution: 0.025
       transform_tolerance: 1.0
       map_type: costmap
       static_layer:
            enabled: false

costmap_common_params.yaml

inflation_layer:
  cost_scaling_factor: 0.5  
  inflation_radius: 0.35 #0.45
  robot_radius: 0.35

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3.0
  max_obstacle_height: 1.6 #1.3
  min_obstacle_height: 0.03
  observation_sources: scan
  scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0, inf_is_valid: true}


voxel_layer:
  enabled: true
  origin_z: 0.0
  z_resolution: 0.05
  z_voxels: 10
  unknown_threshold: 0
  #mark_threshold: 2
  publish_voxel_map: true
  combination_method: 1
  observation_sources: output_points
  output_points:
    data_type: PointCloud2
    topic: /output_points
    marking: true
    clearing: true
    obstacle_range: 1.90
    raytrace_range: 2.00
    min_obstacle_height: 0.00
    max_obstacle_height: 3.00
    mark_threshold: 3
    observation_persistence: 2.0