Hello,

I am creating cost map with point cloud data with stereo vision camera. The cost map I created appears in the rviz environment. However, my robot ignores them and crashes into the obstacle. What might be the cause?

common_costmap.yaml

obstacle_range: 3.0
raytrace_range: 3.5
footprint: [[-0.432,-0.432],[-0.432,0.432],[0.432,0.432],[0.432,-0.432]]
footprint_padding: 0.08
resolution: 0.05

inflation_layer:
  inflation_radius: 0.8
  cost_scaling_factor: 50.0

obstacle_layer:  
  map_type: costmap
  observation_sources: point_cloud_sensor
  point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud2, topic: /voxel_grid/output, marking: true, clearing: true}

global_costmap.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

  plugins:
    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

local_costmap.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.1

  static_map: false

  width: 7
  height: 7

  plugins:
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}