costmap 2d obstacles marking sonar

edit

I have a problem with marking obstacles in rviz. No matter if I get the simulation of Gazebo or the sensor data directly from the robot, no obstacle is marked. I'm not using a laser scan, just sonar and ir. The data of Sonar and IR are displayed correctly in Rviz, but not marked as an obstacle. For odometry I use the encoders on the wheels. I use the Move_base package and Nav_goal works in Rviz.

costmap common:

map_type: costmap
origin_z: 0.0
z_resolution: 1
z_voxels: 2

footprint: [[ 0.08 ,-0.09],
            [-0.14 ,-0.09],
            [-0.14 , 0.09],
            [ 0.08 , 0.09]]  
footprint_padding: 0.1

obstacle_range: 2.5
raytrace_range: 3.5

srf_range_sensor:
  topics: ["/SRF/srf_front"]
  enable: true
  no_readings_timeout: 0.0
  clear_threshold: 0.20
  mark_threshold: 0.80
  clear_on_max_reading: true

ir_range_sensor:
  topics: ["/IR/ir_left", 
           "/IR/ir_right"]
  enable: true
  no_readings_timeout: 0.0
  clear_threshold: 0.20
  mark_threshold: 0.80
  clear_on_max_reading: true

inflater_layer:
 inflation_radius: 1.3

local costmap:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 20.0
  publish_frequency: 5.0
  width: 10.0
  height: 10.0
  resolution: 0.05
  origin_x: -5.0
  origin_y: -5.0
  static_map: false
  rolling_window: true
plugins:
  - {name: srf_range_sensor, type: "range_sensor_layer::RangeSensorLayer"}
  - {name: ir_range_sensor, type: "range_sensor_layer::RangeSensorLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global costmap:

global_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 20.0
  publish_frequency: 5.0
  width: 40.0
  height: 40.0
  resolution: 0.05
  origin_x: -20.0
  origin_y: -20.0
  static_map: false
  rolling_window: true

plugins:
  - {name: srf_range_sensor, type: "range_sensor_layer::RangeSensorLayer"}
  - {name: ir_range_sensor, type: "range_sensor_layer::RangeSensorLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

move launch

<launch>

 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">   

    <rosparam file="$(find alpha_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find alpha_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find alpha_navigation)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find alpha_navigation)/config/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find alpha_navigation)/config/base_local_planner_params.yaml" command="load" />
 </node>

</launch>

rviz launch

<?xml version="1.0"?>
<launch>
    <param name ="/use_sim_time" value="true"/>

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="False"/>
  </node>

  <!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>


<!-- Show in Rviz   -->
  <!--node name="rviz" pkg="rviz" type="rviz"/-->
  <node name="rviz" 
    pkg="rviz" 
    type="rviz" 
    args="-d $(find alpha_description)/launch/rviz_alphabot.rviz"
    required="true"/>

<!-- Include other launch files -->
    <!-- With the following command we launch the gmapping.launch which belongs 
       - to speedy_navigation package 
       -->          


    <!--- Launch Move Base -->
    <include file="$(find alpha_navigation)/launch/move_base.launch" />

</launch>

Thanks for the help