Re: [ros-users] gazebo laser error message

>     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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