re-enable obstacle layer (#762)

nav2_bringup/launch/nav2_params.yaml

@@ -95,7 +95,7 @@ local_costmap:
       robot_radius: 0.17
       inflation_layer.cost_scaling_factor: 3.0
       obstacle_layer:
-        enabled: False
+        enabled: True
       always_send_full_costmap: True
       observation_sources: scan
       scan:
@@ -119,7 +119,7 @@ global_costmap:
     ros__parameters:
       robot_radius: 0.17
       obstacle_layer:
-        enabled: False
+        enabled: True
       always_send_full_costmap: True
       observation_sources: scan
       scan:

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -186,7 +186,7 @@ void ObstacleLayer::onInitialize()
       source.c_str(), topic.c_str(),
       global_frame_.c_str(), expected_update_rate, observation_keep_time);
 
-    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
+    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
     custom_qos_profile.depth = 50;
 
     // create a callback for the topic