Comment by rool12 for First, is this really your formating in the yaml files? There should be indentations. Then i miss definition like the API discribes (http://wiki.ros.org/range_sensor_layer), its not the same as laser scan, similar: sonar_layer: topics: ["/sonar"] no_readings_timeout: 1.0 Further I would look at this posts, -> post ->link text

Thanks for answering! Due to copying and pasting the .yaml documents to the forum, the whole layout changed. I also added some parameters for the sonar_layer. I edited my original post with my current configuration. Unfortunately it did not give me anymore information in rviz (it is true that I should see a datapoint of the sonar on the obstacle at all?). /sonar/sonar_front and /sonar/sonar_side are given values when I echo those based on my simulation in gazebo, and I can see the range cone in rviz. I can't get it connected with amcl unfortunately ... Do I need to add something for this sonar to the amcl launch-file? Thanks!