My fake laser layer doesn't appear in the costmap of the robot

edit

Hello everyone,

I'm trying to insert a fake laser sensor data in the robot costmap to make obstacle avoidance, but it doesn't seem to be working fine. For doing that, I publish LaserScan type messages in "my_laser" topic, as I can see in Rviz. It seems to work well, the robot can read this fake sensor data, but it doesn't include it in the costmap. In other hand, when I launch the robot/move_base.launch, I can see that robot is trying to include this information in the costmap because it uses my custom plugin "tag_obstacle_layer" subscribed to "tags", as you can see.

process[robot/move_base-1]: started with pid [16779]
[ INFO] [1626777328.033176618]: Using plugin "static_map"
[ INFO] [1626777328.249583878]: Requesting the map...
[ INFO] [1626777328.455648682]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix
[ INFO] [1626777328.553113912]: Received a 1984 X 1984 map at 0.050000 m/pix
[ INFO] [1626777328.556509213]: Using plugin "inflation_layer"
[ INFO] [1626777328.655227862]: Using plugin "obstacle_layer"
[ INFO] [1626777328.658058522]: Subscribed to Topics: front_laser
[ INFO] [1626777328.688737450]: Using plugin "rgbd_obstacle_layer"
[ INFO] [1626777328.691157660]:     Subscribed to Topics: front_rgbd_to_scan
[ INFO] [1626777328.725274551]: Using plugin "inflation_layer"
[ INFO] [1626777328.741370606]: Using plugin "tag_obstacle_layer"
[ INFO] [1626777328.744553187]:     Subscribed to Topics: tags
[ INFO] [1626777329.040558416]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ INFO] [1626777329.117712196]: Footprint model 'circular' (radius: 0.3m) loaded for trajectory optimization.
[ INFO] [1626777329.121654781]: Parallel planning in distinctive topologies disabled.
[ INFO] [1626777329.455280733]: Costmap conversion plugin costmap_converter::CostmapToPolygonsDBSMCCH loaded.
[ INFO] [1626777329.868401507]: Recovery behavior will clear layer obstacles
[ INFO] [1626777329.881106754]: Recovery behavior will clear layer obstacles
[ INFO] [1626777329.940618724]: odom received!

I have modified two files: "costmap_common_params.yaml" and "local_costmap_params.yaml" as it follows.

1. "costmap_common_params.yaml":

   publish_frequency: 1.0 
   robot_radius: 0.3
   
   inflation_layer:
     inflation_radius: 0.3
   
   obstacle_layer:
     obstacle_range: 2.5
     raytrace_range: 5.5
     observation_sources: front_laser
     front_laser:
       sensor_frame: robot_front_laser_link
       data_type: LaserScan
       topic: front_laser/scan
       marking: true
       clearing: true
       observation_persistence: 0.0
   
   rgbd_obstacle_layer:
     obstacle_range: 2.5
     raytrace_range: 5.5
     observation_sources: front_rgbd_to_scan
     front_rgbd_to_scan:
       data_type: LaserScan
       topic: front_rgbd_camera/point_cloud_scan_filtered
       marking: true
       clearing: true
       observation_persistence: 5.0
   
   tag_obstacle_layer:
     obstacle_range: 2.5
     raytrace_range: 5.5
     observation_sources: tags
     tags:
       sensor_frame: robot_front_laser_link
       data_type: LaserScan
       topic: my_laser
       marking: true
       clearing: true
       observation_persistence: 100.0
   

2. "local_costmap_params.yaml":

   local_costmap:
     global_frame: robot_odom
     robot_base_frame: robot_base_footprint
     update_frequency: 2.0
     static_map: false
     rolling_window: true
     width: 5.0
     height: 5.0
     resolution: 0.05
     footprint_padding: 0.0
   
   inflation_layer:
     inflation_radius: 0.3
   
   plugins:
    -
      name: obstacle_layer
      type: "costmap_2d::ObstacleLayer"
    -
      name: rgbd_obstacle_layer
      type: "costmap_2d::ObstacleLayer"
    -
      name: inflation_layer
      type: "costmap_2d::InflationLayer"
    - 
      name: tag_obstacle_layer
      type: "costmap_2d::ObstacleLayer"
   

Doing that, It doesn't have any errors, but in Rviz shows the costmap avoiding only real laser sensor data, and not my fake laser sensor data. (I would like to insert an image, but I don't have enough points yet).

I have tried to publish a point goal that goes through my fake obstacle data (trying to see if the error is in Rviz Simulation) but robot doesn't avoid it. So I don't know what I can do to solve this problem. I need my fake ... (more)