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After playing lot with costmap parameters and correcting the costmap parameters both the range sensor and laserscan is working properly in move base. Here is the latest costmap param:

footprint: [[-0.25,-0.25],[-0.25,0.25],[0.37,0.25],[0.37,-0.25]]
footprint_padding: 0.05

inflation_layer:
  inflation_radius: 1.0
  cost_scaling_factor: 100.0

obstacle_layer:
  obstacle_range: 3.0
  raytrace_range: 3.5

  map_type: costmap
  observation_sources: scan
  scan: {sensor_frame: base_scan, data_type: LaserScan, topic: depth/scan_filtered, marking: true, clearing: true}

Here what i was missing was i only added the inflation_layer and obstacle_layer which was not defined previously.

After playing lot with costmap parameters and correcting the costmap parameters both the range sensor and laserscan is working properly in move base. Here is the latest costmap param:

footprint: [[-0.25,-0.25],[-0.25,0.25],[0.37,0.25],[0.37,-0.25]]
footprint_padding: 0.05

inflation_layer:
  inflation_radius: 1.0
  cost_scaling_factor: 100.0

obstacle_layer:
  obstacle_range: 3.0
  raytrace_range: 3.5

  map_type: costmap
  observation_sources: scan
  scan: {sensor_frame: base_scan, data_type: LaserScan, topic: depth/scan_filtered, marking: true, clearing: true}

local_costmap:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 5
  height: 5
  resolution: 0.05

  plugins:
    - {name: range_sensor_layer,   type: "range_sensor_layer::RangeSensorLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

  range_sensor_layer:
    clear_on_max_reading: true
    topics: ["/ultrasonic/ir_front", "/ultrasonic/ir_front_right", "/ultrasonic/ir_front_left", "/ultrasonic/ir_right", "/ultrasonic/ir_left"]

global_costmap:

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

  plugins:
    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: range_sensor_layer,   type: "range_sensor_layer::RangeSensorLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

  range_sensor_layer:
    clear_on_max_reading: true
    topics: ["/ultrasonic/ir_front", "/ultrasonic/ir_front_right", "/ultrasonic/ir_front_left", "/ultrasonic/ir_right", "/ultrasonic/ir_left"]

Here what i was missing was i only added the inflation_layer and obstacle_layer which was not defined previously. previously.