Revision history [back]

You need to add the observation sources inside of the plugin that should use them.

Thus, move those into the obstacle plugin like so:

plugins:
 - {name: obstacle, type: "costmap_2d::ObstacleLayer"}
 - {name: inflation, type: "costmap_2d::InflationLayer"}

obstacle:
   observation_sources: velodyne

   velodyne: {sensor_frame: velodyne, data_type: PointCloud2, topic: velodyne_points, marking: true, clearing: true,    min_obstacle_height: -10, obstacle_range: 25, raytrace_range: 25}

  track_unknown_space: true