Obstacles on Rviz, incorrectly visualization.

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Hi everywhere.

I'm finishing the install of the navigation stack on my robot, but I have a problem. As I viewed in the tutorial "Using rviz in navigation stack", the obstacles and inflated obstacle will appear as the robot are approximating to them and always that the laser can "view" them. If you see my video, you can note that some obstacles on my rviz are "loaded" since the first moment, and the others will not appear although the laser are viewing it (I note that if the robot collision with this "invisible" obstacles, it see this obstacles).

Video: http://youtu.be/rBaU9yuqO6k

I searched and found some topics in forums of people that have a similar problem (altough they directly not see the obstacles), but I try to apply some changes proposed and the result is the same.

There are some of my configuration files:

costmap_common_params.yaml:

obstacle_range: 0.05

raytrace_range: 0.5

footprint:[[0.5, -0.275], [0.5, 0.275],[-0.5,0.275], [-0.5, -0.275]]

inflation_radius: 0.5

observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: /hokuyo_laser_link, data_type: LaserScan, topic: hok_node_topic, marking: true, clearing: true}

global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0 static_map: true

local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0 static_map: true rolling_window: true width: 6.0 height: 6.0 resolution: 0.05

Other problem that I have is to synchronize the position of the robot both in Gazebo and Rviz I have to set manually in this last. There is other method?

Any idea? Thanks in advance!