Voxel Layer of local cosmap not working

[Cavalletta98]

• OS: Ubuntu 22.04
• ROS 2 Distro: Humble
• Built from source or installed: Installed
• Real hardware or simulation: Real Hardware

Expected behaviour
Build a local costmap using point clouds generated by an Ouster OS LiDAR and a RealSense D435i camera.

Actual behaviour
Costmap is empty when only the Voxel Layer is used. However, when the Static Layer is used, it functions correctly because the Static Layer relies on SLAM data, which utilizes information from the laser scan.

To Reproduce
Provide the steps to reproduce:

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

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