Hi everyone, I'm super new on the ROS environment and I am trying to modify on a project that I am working on a costmap2d.yaml file. The project was being used on Gazebo and the main important things that I need to change is that now the input is not anymore LaserScan from the /scan topic. The main things on the file are

global_frame: odom;
robot_base_frame: base_footprint
[... configuration of refresh, full map sharing, etc]
obstacles:
observation_sources: scan
scan: { data: LaserScan, sensor_frame: base_footprint, clearing: true, marking: true, topic: fake_scan}

Now I am on CARLA Simulator and I am using a ROS bridge. My problem is that I have the specific topic and the data now is PointCloud2, I. changed the data and topic parts and leaved the rest the same but it is not working.

Are globalframe, robotbase_frame important? I do not see on rostopic list the topic /odom but I do have the topic carla/vehicle/odometry.

Am I really lost? Also, where could I find some information on configuration of costmap using yaml files?