What camera topic should be given to the navigation stack? [closed]

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Hello !!

I want to use an Asus Xtion with openni2_launch. But I can't figure out which topic I should give in the navigation stack. I tried the following code lines in costmap_common_params.yaml:

observation_sources: point_cloud_sensor 
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth_registered/points, marking: true, clearing: true}

observation_sources: point_cloud_sensor 
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}

observation_sources: laser_scan_sensor 
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

With each of these 3 parameters, I don't get any obstacle topic to subscribe to in rviz.