Hi Narasimhan,

I modified observation_sources in costmap_common_params.yaml to use
mypoint_cloud_sensor. 


mypoint_cloud_sensor: {sensor_frame: /base_link, data_type: PointCloud,
topic: /cloud,  marking: true, clearing: true, min_obstacle_height: 0.0} 


When the goal is set, the costmap is shown and the global path is correct.
However, the robot is rotating around. It keep rotating and not moving to
the goal. I am not sure is there any parameters that I have missed ? 


Thanks
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