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Hey, I have setup costmap parameters using the tutorial and answers from the forum but I still can't get it to work right. The local cost map doesn't show the obstacle, the obstacle shows up in the global cost map but it is not inflated. I did try putting the inflation and obstacle layer in the local costmap with static and inflation layer in the global one but it didn't change much. Here are the params, how should I got about correcting this?

common params

robot_base_frame: dbot/base_link

max_obstacle_height: 4.0
robot_radius: 0.25

plugins:
  - {name: static_layer, type: "costmap_2d::StaticLayer"}
  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
  - {name: inflated_layer, type: "costmap_2d::InflationLayer"}


static_layer:
  map_topic: /map
  subscribe_to_updates: true

obstacle_layer:
  observation_sources: laser depth

  laser:
    topic: /dbot/scan
    sensor_frame: dbot/sensor_laser
    observation_persistence: 10.0
    expected_update_rate: 10.0
    data_type: LaserScan
    clearing: true
    marking: true
    max_obstacle_height: 3.0
    min_obstacle_height: 0.05
    obstacle_range: 4.0
    raytrace_range: 6.0

  depth:
    topic: /dbot/kinect/depth/points
    sensor_frame: dbot/kinect
    observation_persistence: 10.0 
    expected_update_rate: 10.0
    data_type: PointCloud2
    clearing: true
    marking: true
    max_obstacle_height: 3.0
    min_obstacle_height: 0.05
    obstacle_range: 3.0
    raytrace_range: 3.0

inflated_layer:
  inflation_radius: 1.0
  cost_scaling_factor: 10.0

global params

global_costmap:
  global_frame: map
  robot_base_frame: dbot/base_link

  # update_frequency: 10.0 -> 5.0 # Changed
  # publish_frequency: 10.0 -> 2.0 # Changed
  transform_tolerance: 0.5

  static_map: true
  height: 50
  widht: 50

local params

local_costmap:
  global_frame: dbot/odom
  robot_base_frame: dbot/base_link
  # update_frequency: 10.0 -> 5.0 # Changed
  # publish_frequency: 10.0 -> 2.0  # Changed
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 6
  height: 6
  resoultion: 0.05

I posted the parameter files in the answer. Hope it helps.

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Thank you. After looking around for a day this finally worked for me.