>
> [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.
>
>
move_base here is subscribing to base_laser as a PointCloud, not a
LaserScan.  Are you sure that's the yaml you're using?  In that yaml the
topic would default to "base_scan", not "base_laser".

Josh