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Hello again, as I am limited in characters in comment, let me reply to you here. FIrst, here is the BackTrace:

[ INFO] [1570200605.707747442]: Using plugin "range_sensor_layer"
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

Thread 1 "move_base" received signal SIGSEGV, Segmentation fault.
0x00007fffe8279338 in typeinfo for range_sensor_layer::RangeSensorLayer ()
   from /opt/ros/melodic/lib//librange_sensor_layer.so
(gdb) bt
#0  0x00007fffe8279338 in typeinfo for range_sensor_layer::RangeSensorLayer ()
   from /opt/ros/melodic/lib//librange_sensor_layer.so
#1  0x00007ffff6a080e2 in costmap_2d::Layer::initialize(costmap_2d::LayeredCostmap*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, tf2_ros::Buffer*) ()
   from /home/robot/catkin_ws/devel_isolated/costmap_2d/lib/libcostmap_2d.so
#2  0x00007ffff6a0b875 in costmap_2d::Costmap2DROS::Costmap2DROS(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, tf2_ros::Buffer&) ()
   from /home/robot/catkin_ws/devel_isolated/costmap_2d/lib/libcostmap_2d.so
#3  0x00007ffff7ada011 in move_base::MoveBase::MoveBase(tf2_ros::Buffer&) ()
   from /home/robot/catkin_ws/devel_isolated/move_base/lib/libmove_base.so
#4  0x000055555555c6a7 in main ()

HEre is a sample of range data I want to use in the range_layer : echo robot_base/us/raw_data :

---
header: 
  seq: 4585
  stamp: 
    secs: 1570200965
    nsecs: 412347322
  frame_id: "front_us_link"
radiation_type: 0
field_of_view: 0.785399973392
min_range: 0.01600000076
max_range: 6.0
range: 1.57000005245
---

Does it segfault without the range layer enabled?

No, everything works fine if I disable the range_layer.

have you tried waiting a few seconds for the tf2 buffer to fill up?

Unfortunately, this has no effect

Could you also check the tf tree (so as to see if /map, base_link, front_us_link, ... exist and are connected?

In my tf_tree, everything seems fine ...

I'm sorry for the lack of hint about this problem ... Doesn't the double backslash in from /opt/ros/melodic/lib//librange_sensor_layer.so in my first message make you think this error is "path related" ?

Thanks again!