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My guess is your issue stems from how you defined your ultrasonic plugin. Try the following instead:

ultrasonic: topics: ["/ultrasonic"] data_type: Range no_readings_timeout: 1.0 clear_on_max_reading: true

Then also remove all of your "ultrasonic_layer:" definition to prevent confusion (Unless you are using that plugin elsewhere). You only need to define a layer/plugin once.

Also the RangeSensorLayer has no 'marking' or 'clearing' parameters (unlike ObstacleLayer) so you don't need those lines.

Let us know if this fixes your problem.

My guess is your issue stems from how you defined your ultrasonic plugin. Try the following instead:

ultrasonic:
    topics: ["/ultrasonic"]
    data_type: Range
    no_readings_timeout: 1.0
    clear_on_max_reading: true
true