Hi everyone. I'm using nav2 stack in ros2 foxy. I'm following this tutorial . Only change is my own robot. When I run the program, there is obstacles in the local cost map in rviz even though there is no obstacle in gazebo. My navigation parameters are :

global_costmap:   
global_costmap:
ros__parameters:
  update_frequency: 1.0
  publish_frequency: 1.0
  global_frame: map
  robot_base_frame: base_link
  use_sim_time: True
  robot_radius: 0.22
  resolution: 0.05
  track_unknown_space: false
  rolling_window: false
  plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
  static_layer:
    plugin: "nav2_costmap_2d::StaticLayer"
    map_subscribe_transient_local: True
  obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    enabled: True
    observation_sources: scan
    scan:
      topic: /scan
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"
      raytrace_max_range: 3.0
      raytrace_min_range: 0.0
      obstacle_max_range: 2.5
      obstacle_min_range: 0.0
  inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 3.0
    inflation_radius: 0.55
  always_send_full_costmap: True

local_costmap:  
local_costmap:
ros__parameters:
  update_frequency: 5.0
  publish_frequency: 2.0
  global_frame: odom
  robot_base_frame: base_link
  use_sim_time: True
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05
  robot_radius: 0.22
  plugins: ["voxel_layer", "inflation_layer"]
  voxel_layer:
    plugin: "nav2_costmap_2d::VoxelLayer"
    enabled: True
    publish_voxel_map: True
    origin_z: 0.0
    z_resolution: 0.05
    z_voxels: 16
    max_obstacle_height: 2.0
    mark_threshold: 0
    observation_sources: scan
    scan:
      topic: /scan
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"
  inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 3.0
    inflation_radius: 0.55
  always_send_full_costmap: True

When I run the following command:

ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker 

Terminal indicates:

Published 124 markers in 0.000085 seconds