how to use it together with costmap of navigation

[engels9527]

Hello, author! I want to use it together with navigation, but it dosen't work. When i use it alone, it can indeed display obstacle information and inflation radius.However, i add related plugins to move_base params including local_costmap_params and costmap_common_params, rviz can dispaly obstacle information but can not display inflation. When i set a goal which path include obstacles, the robot did not avoid obstacles.Sincerely request the author's help!

[tsengapola]

Please provide your launch file and yaml file.
Also it is possible that your point cloud is too dense.
You can use following branch which voxelized the input:
Noetic Voxelized Version