costmap_2d::VoxelLayer not clearing [closed]

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Hello there,

I'm using the move_base navigation stack. I'm realizing that the costmap_2d::VoxelLayer doesn't seem to clear up the costmap when the data are fed from and rgbd sensor. I'm using the following costmap configuration (I omit the local_costmap and global_costmap parameters, I report only the common parameters)

robot_radius: 0.16
plugins:
  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
  - {name: obstacles_layer, type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

obstacles_layer:
  obstacle_range: 1.5
  raytrace_range: 3.0
  observation_sources: rgbd_scan laser_scan 
  rgbd_scan: {sensor_frame: camera_rgb_optical_frame, data_type: PointCloud2, topic: rgbdscan, marking: true, clearing: true, min_obstacle_height: 0.03, max_obstacle_height: 1.00, mark_threshold: 3}
  laser_scan: {sensor_frame: laser_link, data_type: LaserScan, topic: scan, marking: true, clearing: true} 

inflation_layer: 
  inflation_radius: 0.7
  cost_scaling_factor: 20.0

Clearing doesn't work!

Regards, Federico