problem of adding the range_sensor_layer to costmap_2D plugins

edit

I am a fresh man to ROS system.I bulid a robot platfom use ros. i use move_base in my systerm.
I have a laser scan and some ultrasonic sensors in my systerm,but for using the ultrasonic sensor i got some problem.
i dont konw how to add the range_sensor_layer as a costmap plugins.
i tried just add

In costmap_common_params.yaml
add the layer of ultrasonic

 ultrasonic_layer:  
 enabled: true  
 max_obstacle_height: 0.4  
 origin_z: 0.0  
 z_resolution: 0.2  
 z_voxels: 2  
 unknown_threshold: 15  
 mark_threshold: 0  
 combination_method: 1  
 track_unknown_space: true #true needed for disabling globalpath planning through unknown space  
 obstacle_range: 1.0  
 raytrace_range: 3.0  
 publish_voxel_map: false  
 observation_sources: ultrasonic  
 ultrasonic:  
  data_type: Range  
  topic: ultrasonic  
  marking: true  
  clearing: true  

In local_costmap_params.yaml like

plugins:  
  - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}  
  - {name: ultrasonic,   type: "range_sensor_layer::RangeSensorLayer"}  
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}  

but when i run the move base i got some error said: "range_sensor_layer::RangeSensorLayer" is not surported by the plugin .

i can get the range informations using : $rostopic echo ultrasonic

did i missed something? or did i do somrthing wrong?
and can anybody tell me the correct way to use the range_sensor_layer as a plugin?

thanks a lot