costmap_2d TrajectoryPlannerROS cost_cloud not being published

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Hello,

I have a laser scanner and a Kinect on my TurtleBot. I would like to use the point cloud from the Kinect to assist with obstacle avoidance while I use the laser for amcl navigation. I have included both the laser and Kinect as observation sources in my costmap_common_params.yaml file (see below). I can view the raw point cloud from the Kinect (/camera/depth/points) in RViz; however, the cost cloud under /move_base/TrajectoryPlannerROS/cost_cloud returns a warning "No messages received". I've read through the costmap_2d Wiki page but I can't see what I am missing.

I am running the latest Debian version of ROS Electric under Ubuntu 10.04. Here is my parameter file:

obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.17
inflation_radius: 0.6
max_obstacle_height: 0.6
min_obstacle_height: 0.08
observation_sources: scan point_cloud
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}
point_cloud: {data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}

Thanks!
patrick