Costmaps observation buffer has not been updated [closed]

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Hi There,

I receive following error message when starting my costmap, which is instantiated:

The /scan observation buffer has not been updated for 140.78 seconds, and it should be updated every 5.00 seconds.

So how do I update the LaserScan in my code? In addition, I recognized that I need to instantiate the global and local costmap, otherwise the LaserScannerCallback is never entered. If I instantiate both, LaserScannerCallback is entered right at the beginning and not updated later on.

How I instantiate:

tf::TransformListener tf(ros::Duration(10));
costmap2d = new costmap_2d::Costmap2DROS("local_costmap", tf);
costmap2d_global = new costmap_2d::Costmap2DROS("global_costmap", tf);
//start updating the costmap
costmap2d->start();
costmap2d_global->start();

while (true) 
{
    costmap2d->updateMap();
    costmap2d_global->updateMap();
    ROS_ERROR("SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!");
}

This are the debugging messages in the costmap_2d_ros.cpp file (line 240):

  //create a callback for the topic
  if(data_type == "LaserScan"){
    boost::shared_ptr<message_filters::Subscriber<sensor_msgs::LaserScan> > sub(
          new message_filters::Subscriber<sensor_msgs::LaserScan>(g_nh, topic, 50));

    boost::shared_ptr<tf::MessageFilter<sensor_msgs::LaserScan> > filter(
        new tf::MessageFilter<sensor_msgs::LaserScan>(*sub, tf_, global_frame_, 50));
    filter->registerCallback(boost::bind(&Costmap2DROS::laserScanCallback, this, _1, observation_buffers_.back()));

    observation_subscribers_.push_back(sub);
    observation_notifiers_.push_back(filter);

    observation_notifiers_.back()->setTolerance(ros::Duration(0.05));
    ROS_WARN("LaserScan Callback created."); // <<-- I SHOULD GET THIS MESSAGE IF THE CALLBACK IS CREATED
  }

There is the callback in costmap_2d_ros.cpp (line 998):

void Costmap2DROS::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message, const boost::shared_ptr<ObservationBuffer>& buffer){
    //project the laser into a point cloud
    sensor_msgs::PointCloud2 cloud;
    cloud.header = message->header;

    ROS_WARN("CALLBACK !!!!"); // <<-- THIS SHOULD BE CALLED WHENEVER THE CALLBACK IS ENTERED
    //project the scan into a point cloud
    try
    {
      projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, tf_);
    }
    catch (tf::TransformException &ex)
    {
      ROS_WARN ("High fidelity enabled, but TF returned a transform exception to frame %s: %s", global_frame_.c_str (), ex.what ());
      projector_.projectLaser(*message, cloud);
    }

    //buffer the point cloud
    buffer->lock();
    buffer->bufferCloud(cloud);
    buffer->unlock();
  }

This is the output when I start my node:

[ INFO] [1390551857.199559862]: Subscribed to Topics: scan
[ WARN] [1390551858.117169643]: Created an observation buffer for data type: LaserScan source: scan, topic: /scan, global frame: /odom, expected update rate: 5.00, observation persistence: 0.00
[ WARN] [1390551858.120995261]: LaserScan Callback created.
[ INFO] [1390551858.413191936]: Subscribed to Topics: 
[ INFO] [1390551858.455085838]: Requesting the map...

[ WARN] [1390551858.459802919]: CALLBACK !!!!
[ INFO] [1390551858.461015799]: Still waiting on map...

[ WARN] [1390551859.459632166]: CALLBACK !!!!
[ WARN] [1390551859.460424412]: CALLBACK !!!!
[ WARN] [1390551859.461023054]: CALLBACK !!!!
[ WARN] [1390551859.461938169]: CALLBACK !!!!
[ WARN] [1390551859.462500109]: CALLBACK !!!!
[ WARN] [1390551859.463153905]: CALLBACK !!!!
[ WARN] [1390551859.464408500]: CALLBACK !!!!
[ WARN] [1390551859.474896956]: CALLBACK !!!!
[ WARN] [1390551859.475409172]: CALLBACK !!!!
[ WARN] [1390551859.475852453]: CALLBACK !!!!
[ WARN] [1390551859.476327935]: CALLBACK !!!!
[ WARN] [1390551859.476803132]: CALLBACK !!!!
[ WARN] [1390551859.477267024]: CALLBACK !!!!
[ WARN] [1390551859.477728195]: CALLBACK !!!!
[ WARN] [1390551859.478331598]: CALLBACK !!!!
[ WARN] [1390551859.478928722]: CALLBACK !!!!
[ WARN] [1390551859.479506096]: CALLBACK !!!!
[ WARN] [1390551859.480412325]: CALLBACK !!!!
[ WARN] [1390551859.481133095]: CALLBACK !!!!
[ WARN] [1390551859.481902018]: CALLBACK !!!!
[ WARN] [1390551859.482498100]: CALLBACK !!!!
[ WARN] [1390551859.482904982]: CALLBACK !!!!
[ WARN] [1390551859.483329213]: CALLBACK !!!!
[ WARN] [1390551859.483728536]: CALLBACK !!!!
[ WARN] [1390551859.484164747]: CALLBACK !!!!
[ WARN] [1390551859.484736968]: CALLBACK !!!!
[ WARN] [1390551859.485151610]: CALLBACK !!!!
[ WARN] [1390551859.485624194]: CALLBACK !!!!
[ WARN] [1390551859.486024053]: CALLBACK !!!!
[ WARN ...