[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".