Global costmap cannot read my laserscan topic

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Hi,

I have a very strange error. I have an RGB-D camera which produces point cloud. I use this point cloud to reduce the amount of points via voxel_cloud package. After that, I use the spatio_temporal_voxel_layer to get the obstacles. Here are my costmap_common_params, global_costmap and local costmap params:

obstacle_range : 4.5
raytrace_range : 5.0

footprint: [ [0.4, 0.3], [0.4,-0.3], [-0.4, -0.3], [-0.4, 0.3] ]

conservative_clear:
  reset_distance: 3.00
aggressive_clear:
  reset_distance: 1.84


lidar_layer:
  map_type: voxel
  obstacle_range: 4.5
  raytrace_range: 5.0
  publish_voxel_map: false
  track_unknown_space: true
  observation_sources: laser_front
  laser_front: {
    data_type: LaserScan,
    topic: /scan,
    expected_update_rate: 1.2,
    marking: true,
    clearing: true,
    inf_is_valid: true,
    min_obstacle_height: 0.0}


camera_spatio_layer:
  enabled:                  true
  voxel_decay:              0.5     #seconds if linear, e^n if exponential
  decay_model:              0      #0=linear, 1=exponential, -1=persistent
  voxel_size:               0.025   #meters
  track_unknown_space:      true   #default space is unknown
  observation_persistence:  0.0    #seconds
  max_obstacle_height:      1.2    #meters
  unknown_threshold:        15     #voxel height
  mark_threshold:           0      #voxel height
  update_footprint_enabled: true
  combination_method:       1      #1=max, 0=override
  obstacle_range:           3.0    #meters
  origin_z:                 0.0    #meters
  publish_voxel_map:        true   # default off
  transform_tolerance:      0.2    # seconds
  mapping_mode:             false  # default off, saves map not for navigation
  map_save_duration:        60     #default 60s, how often to autosave
  observation_sources:      depth_left_marking depth_left_clearing

  depth_left_marking:
    data_type: PointCloud2
    topic: /voxel_cloud
    marking: true
    clearing: false
    min_obstacle_height: 0.0     #default 0, meters
    max_obstacle_height: 1.0     #default 3, meters
    expected_update_rate: 0.0    #default 0, if not updating at this rate at least, remove from buffer
    observation_persistence: 0.0 #default 0, use all measurements taken during now-value, 0=latest
    inf_is_valid: false          #default false, for laser scans
    clear_after_reading: true    #default false, clear the buffer after the layer gets readings from it
    voxel_filter: true           #default off, apply voxel filter to sensor, recommend on
  depth_left_clearing:
    data_type: PointCloud2
    topic: /voxel_cloud
    marking: false
    clearing: true
    min_z: 0.0                   #default 0, meters
    max_z: 2.0                   #default 10, meters
    vertical_fov_angle: 1.01     #default 0.7, radians, 85.2° = 1.48
    horizontal_fov_angle: 1.48    #default 1.04, radians, 58° = 1.01
    decay_acceleration: 1.

Global costmap params:

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 1.0
  publish_frequency: 1.0
  static_map: true
  rolling_window: false
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: camera_spatio_layer,     type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}
    - {name: lidar_layer,             type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer_global,         type: "costmap_2d::InflationLayer"}

And local costmap params:

local_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 5.0
  transform_tolerance: 5 # 0.25 seconds of latency, if greater than this, planner will stop
  static_map: false
  rolling_window: true # Follow robot while navigating
  width: 15.0
  height: 15.0
  origin_x: 0.0 #-1.5
  origin_y: 0.0 #-1.5
  resolution: 0.05
  map_type: costmap

  plugins:
   - {name: camera_spatio_layer,     type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}
   - {name: lidar_layer, type: "costmap_2d::ObstacleLayer"}
   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

When I run this, I get the warning that:

/scan has not been updated for X seconds

(even though the topic is active with LaserScan messages)

And after a while I start getting TF error that the TF between Lidar frame and base footprint frame is in the past.

What is interesting, if I turn off the camera_spatio_layer ... (more)