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

Ah alright, thanks for explaining it to me better. I am using a premade/preknown map, and this sonar_layer doesn't add anything even to the costmap. I expected a change in the local costmap when a obstacle is detected, just like [here](https://answers.ros.org/question/238312/range_sensor_layer-marks-max-sonar-range-as-obstacle/), but it doesn't add something to the local costmap unfortunately. This while it is detecting a object when I echo the side or front sonar, and it is visualizing the cone rangedata in Rviz.