Navigation stack not publishing Obstacles & inflation obstacles details

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Hello Everyone,

I am trying to use navigation stack with static map fed to it. Currently i am feeding LaseScan data through Kinect and sonar sensors. When triggering the navigation launch file and observing the same in rviz i can see the global and local path seems to be getting created but cant see and information related to the obstacles and inflation obstacles. Going through the tutorial this is supposed to be published on /local_costmap/inflated_obstacles and /local_costmap/obstacles respectively.

Instead of these topics i can see topics like /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions /move_base/local_costmap/obstacle_layer_footprint/parameter_updates

But these topics cannot be monitored in RVIZ as the data type doesn't match with nav_msgs/GridCells.

My launch file looks like below

<launch> <master auto="start"/> <!-- Run the map server --> <node name="map_server" pkg="map_server" type="map_server" args="$(find myrobot_2dnav)/map.yaml"/> <!--- Run AMCL --> <include file="$(find amcl)/examples/amcl_diff.launch" /> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find security_robot_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find security_robot_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find security_robot_2dnav)/local_costmap_params.yaml" command="load" /> <rosparam file="$(find security_robot_2dnav)/global_costmap_params.yaml" command="load" /> <rosparam file="$(find security_robot_2dnav)/base_local_planner_params.yaml" command="load" /> </node> </launch>

costmap_common_params.yaml

max_obstacle_height: 0.80 obstacle_range: 1 raytrace_range: 3.0 footprint: [[-0.3,-0.3],[-0.3,0.3],[0.45,0.3], [0.45,-0.3]]

inflation_radius: 0.55

obstacles: observation_sources: laser_scan_sensor sonar_scan_1 sonar_scan_2 sonar_scan_3 sonar_scan_4

#laser_scan_sensor: {sensor_frame: camera_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}

laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.05, max_obstacle_height: 0.5} sonar_scan_sensor: {data_type: LaserScan, topic: sonar_scan_1, marking: true, clearing: true, min_obstacle_height: 0., max_obstacle_height: 0.15} sonar_scan_sensor: {data_type: LaserScan, topic: sonar_scan_2, marking: true, clearing: true, min_obstacle_height: 0., max_obstacle_height: 0.15} sonar_scan_sensor: {data_type: LaserScan, topic: sonar_scan_3, marking: true, clearing: true, min_obstacle_height: 0., max_obstacle_height: 0.15} sonar_scan_sensor: {data_type: LaserScan, topic: sonar_scan_4, marking: true, clearing: true, min_obstacle_height: 0., max_obstacle_height: 0.15}

Thanks in Advance, Nithin G