Costmap_2d doesn't apply .yaml parameters

Hi all, I've tried to launch costmap_2d node with this launch code: where params.yaml file contains this costmap: global_frame: /world robot_base_frame: robot transform_tolerance: 0.8 update_frequency: 5.0 publish_frequency: 0.0 #set if you want the voxel map published publish_voxel_map: true #set to true if you want to initialize the costmap from a static map static_map: false #begin - COMMENT these lines if you set static_map to true rolling_window: true width: 6.0 height: 6.0 resolution: 0.025 #end - COMMENT these lines if you set static_map to true #START VOXEL STUFF map_type: voxel origin_z: 0.0 z_resolution: 0.2 z_voxels: 10 unknown_threshold: 10 mark_threshold: 0 #END VOXEL STUFF #The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters. #This can be over-ridden on a per-sensor basis. obstacle_range: 2.5 #The maximum height of any obstacle to be inserted into the costmap in meters. #This parameter should be set to be slightly higher than the height of your robot. max_obstacle_height: 2.0 #The default range in meters at which to raytrace out obstacles from the map using sensor data. #This can be over-ridden on a per-sensor basis. raytrace_range: 3.0 #The footprint of the robot specified in the robot_base_frame coordinate frame as a list footprint: [[-0.20, -0.25], [-0.20, 0.25], [0.20, 0.25], [0.20, -0.25]] footprint_padding: 0.05 #The radius in meters to which the map inflates obstacle cost values. inflation_radius: 0.55 #A scaling factor to apply to cost values during inflation. cost_scaling_factor: 10.0 lethal_cost_threshold: 100 #A list of observation source names separated by spaces. #This defines each of the namespaces defined below. observation_sources: cloud cloud: { topic: /cloud, #The data type associated with the topic, right now only "PointCloud", "PointCloud2", and "LaserScan" are supported. data_type: PointCloud2, #How often to expect a reading from a sensor in seconds. expected_update_rate: 0.4, #How long to keep each sensor reading in seconds. observation_persistence: 0.0, #Whether or not this observation should be used to mark obstacles. marking: true, #Whether or not this observation should be used to clear out freespace. clearing: true, #The maximum height in meters of a sensor reading considered valid. max_obstacle_height: 3.4, #The minimum height in meters of a sensor reading considered valid. min_obstacle_height: 0.08, #The maximum range in meters at which to insert obstacles into the costmap using sensor data. obstacle_range: 4.0 } but anything is published (even if /cloud topic contains data). It seems that yaml file hasn't read correctly... What is it wrong? Thanks in advance