I solved the issue by removing the “obstacle_distance” in apm_pluginlist.yaml(plugin_blacklist section).
obstacle_distance is initialized properly now and i am able to see the distance data(72) in APM planner but i reckon i am missing few configuration here when i run my script for publishing a 72bit scan topic i get this error on the mavros terminal
[ERROR] [1613626072.501267655]: DS: no mapping for sensor id: 10, type: 0, orientation: 0 [ERROR] [1613626072.502014443]: DS: no mapping for sensor id: 11, type: 0, orientation: 1
As razekmaiden mentioned in one of your threads and this issue also specify the same thing but i did not come across more information about this.
It would be great if you could enlighten me on this one.