Need help for Voxel Layer local costmap

[Cavalletta98]

Describe the bug I'm trying to use the PointCloud from the lidar inside the voxel layer of the local costamp but it is empty. The lidar is mounted on a clearpath jackal robot

To Reproduce Steps to reproduce the behavior (steps below are just an example):

1. In one terminal on the robot: ros2 launch clearpath_nav2_demos nav2.launch.py use_sim_time:=false
2. In another terminal on the robot: ros2 launch clearpath_nav2_demos slam.launch.py use_sim_time:=false
3. On the host machine: ros2 launch clearpath_viz view_navigation.launch.py namespace:=j100_0538

Screenshots If applicable, add screenshots to help explain your problem.

Platform (please complete the following information):

• Ouster Sensor?OS1-32-U
• ROS version/distro?Humble
• Operating System? Ubuntu 22.04
• Machine Architecture? x64
• Ouster FW: 2.4.0
• git commit hash 2a0ef50f1dbe3f512321e809d6ca87391ce38f6e

Attached you can find the yaml files for nav2 and slam params.zip

[Samahu]

Are you able to receive point clouds using the official ouster-ros driver?

[Cavalletta98]

It's seem to be a problem with the CPU usage going to 95% when i run all Nav2 stuffs. Now i move all the Nav2 stuffs outside the robot pc. I will let you know if it will fix

[Samahu]

Does the problem still exist?