Hi Andreas,

This may or may not help, but one thing I notice is in your costmap yaml,
topic field is missing, i.e.

base_scan: {sensor_frame: base_laser_link,* topic: /base_scan*, data_type:
LaserScan, expected_update_rate: 0.2, observation_persistence: 0.0, marking:
false, clearing: true, min_obstacle_height: -0.08, max_obstacle_height: 2.0}

John


On Mon, May 17, 2010 at 2:42 AM, Andreas Vogt <
andreasv@informatik.uni-bremen.de> wrote:

> Hi,
>
> I receive this message if I start my launch file:
>
> [ERROR] 4.264000000: Client [/move_base] wants topic /base_laser to have
> datatype/md5sum
> [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our
> version has [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369].
> Dropping connection.
>
>
> I use a simulated laser my launch file look like this:
>
> <launch>
>  <!-- start world -->
>  <include file="$(find gazebo_worlds)/launch/office_world.launch"/>
>
>  <!-- start controller manager (rviz) -->
>  <include file="$(find pr2_controller_manager)/controller_manager.launch"/>
>
>  <!-- load AILA rover -->
>  <param name="robot_description" textfile="$(find
> my_controller_pkg)/ailarover.xml" />
>
>  <!-- push robot_description to factory and spawn robot in gazebo -->
>  <node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model"
> args="-p robot_description spawn -z 2" respawn="false" output="screen" />
>
>
>  <!--include file="$(find pr2_gazebo)/pr2.launch"/-->
>
>   <rosparam file="$(find my_controller_pkg)/my_controller.yaml"
> command="load" />
>
>   <node pkg="pr2_controller_manager" type="spawner"
> args="my_controller_ns" name="my_controller_spawner" />
>
>
>  <!-- Run the map server -->
>  <node name="map_server" pkg="map_server" type="map_server"
> args="$(find my_controller_pkg)/config/office.png 0.05"/>
>  <node pkg="tf" type="static_transform_publisher"
> name="base_laser_to_base_link" args="0 0 0 1.57 0 0 base_link base_laser
> 100" />
>  <node pkg="tf" type="static_transform_publisher"
> name="base_footprint_to_base_link" args="0 0 0 0 0 1.57 base_link
> base_footprint  20" />
>
>  <!--- Run AMCL -->
>  <include file="$(find my_controller_pkg)/config/amcl.xml" />
>
>  <node pkg="move_base" type="move_base" respawn="false"
> name="move_base" output="screen">
>    <rosparam file="$(find
> my_controller_pkg)/config/costmap_common_params.yaml" command="load"
> ns="global_costmap" />
>    <rosparam file="$(find
> my_controller_pkg)/config/costmap_common_params.yaml" command="load"
> ns="local_costmap" />
>    <rosparam file="$(find
> my_controller_pkg)/config/local_costmap_params.yaml" command="load" />
>    <rosparam file="$(find
> my_controller_pkg)/config/global_costmap_params.yaml" command="load" />
>    <rosparam file="$(find
> my_controller_pkg)/config/base_local_planner_params.yaml" command="load" />
>  </node>
> </launch>
>
> and my laser is here in the costmap yaml:
>
> observation_sources: base_scan
>
> base_scan: {sensor_frame: base_laser_link, data_type: LaserScan,
> expected_update_rate: 0.2,
>  observation_persistence: 0.0, marking: false, clearing: true,
> min_obstacle_height: -0.08, max_obstalce_height: 2.0}
>
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