necessary observation inputs for local costmap generation

edit

hi, All,

in the costmap parameter definition below, are both inputs, laser and point cloud, needed?

observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: base_laser, data_type: PointCloud, topic: point_cloud, marking: true, clearing: true}

can I have only one? say laser_scan_sensor?

thanks ray