First an observation: This problem could be stated with different sets of rules. If you try to find a solution that minimises the cost, and using a tube has an associated positive cost independent of the position of the tube and the holes covered by it, then you can always find an optimal solution where each tube is positioned such that the leftmost hole it covers is at the left edge of the tube, and is not covered by any other tube.
Why is that? Because given any optimal solution where this is not the case, we can move one tube to the right until the leftmost hole it covers is not covered by any other tube (if that is not possible, then the tube would be redundant), and then further to the right until the leftmost hole it covers is at its left edge.
This shows immediately that Vince's algorithm is optimal for the case that all tubes have the same radius and the same cost, since it is always necessary to cover the leftmost hole that isn't covered yet, and we can cover it as described by Vince's algorithm, and still get an optimal solution.
With different rules, the situation becomes more difficult. For example, we might have tubes of different sizes and cost. In that case, we can use dynamic programming - the best way to cover n holes is always to cover the first m holes at optimal cost, then add a tube covering the next n-m holes.
If there are limited numbers of some tubes, then we still use dynamic programming, but we need to keep track of the optimal solutions with different usage of limited resources. For example, if we had unlimited numbers of tubes of size 1, and at most three tubes of size 5, we would separately calculate how to best cover the first n holes, using 0/1/2/3 tubes of size 5.
PS. Another condition was added: The center of a tube must be exactly on top of a hole. So if I have holes at 3 and 5 but not at 4, I cannot cover them both with a tube of radius 1 but only with a tube of radius 2, centered at either 3 or 5.
An optimal solution with all tubes the same size will still cover the leftmost uncovered hole with a tube positioned as far to the right as possible. So if the leftmost uncovered hole is at location h, and the tube has radius r, instead of always placing the center of the tube at (h + r) which may not be possible, you place it at the first of the locations (h+r, h+r-1, ..., h+1, h) which has a hole.