Hi Andreas,<br><br>This may or may not help, but one thing I notice is in your costmap yaml, topic field is missing, i.e.<br><br>base_scan: {sensor_frame: base_laser_link,<b> topic: /base_scan</b>, 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}<br>

<br>John<br><br><br><div class="gmail_quote">On Mon, May 17, 2010 at 2:42 AM, Andreas Vogt <span dir="ltr"><<a href="mailto:andreasv@informatik.uni-bremen.de">andreasv@informatik.uni-bremen.de</a>></span> wrote:<br>

<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi,<br>
<br>
I receive this message if I start my launch file:<br>
<br>
[ERROR] 4.264000000: Client [/move_base] wants topic /base_laser to have<br>
datatype/md5sum<br>
[sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our<br>
version has [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369].<br>
Dropping connection.<br>
<br>
<br>
I use a simulated laser my launch file look like this:<br>
<br>
<launch><br>
  <!-- start world --><br>
  <include file="$(find gazebo_worlds)/launch/office_world.launch"/><br>
<br>
  <!-- start controller manager (rviz) --><br>
  <include file="$(find pr2_controller_manager)/controller_manager.launch"/><br>
<br>
  <!-- load AILA rover --><br>
  <param name="robot_description" textfile="$(find<br>
my_controller_pkg)/ailarover.xml" /><br>
<br>
  <!-- push robot_description to factory and spawn robot in gazebo --><br>
  <node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model"<br>
args="-p robot_description spawn -z 2" respawn="false" output="screen" /><br>
<br>
<br>
  <!--include file="$(find pr2_gazebo)/pr2.launch"/--><br>
<br>
   <rosparam file="$(find my_controller_pkg)/my_controller.yaml"<br>
command="load" /><br>
<br>
   <node pkg="pr2_controller_manager" type="spawner"<br>
args="my_controller_ns" name="my_controller_spawner" /><br>
<br>
<br>
  <!-- Run the map server --><br>
  <node name="map_server" pkg="map_server" type="map_server"<br>
args="$(find my_controller_pkg)/config/office.png 0.05"/><br>
  <node pkg="tf" type="static_transform_publisher"<br>
name="base_laser_to_base_link" args="0 0 0 1.57 0 0 base_link base_laser<br>
100" /><br>
  <node pkg="tf" type="static_transform_publisher"<br>
name="base_footprint_to_base_link" args="0 0 0 0 0 1.57 base_link<br>
base_footprint  20" /><br>
<br>
  <!--- Run AMCL --><br>
  <include file="$(find my_controller_pkg)/config/amcl.xml" /><br>
<br>
  <node pkg="move_base" type="move_base" respawn="false"<br>
name="move_base" output="screen"><br>
    <rosparam file="$(find<br>
my_controller_pkg)/config/costmap_common_params.yaml" command="load"<br>
ns="global_costmap" /><br>
    <rosparam file="$(find<br>
my_controller_pkg)/config/costmap_common_params.yaml" command="load"<br>
ns="local_costmap" /><br>
    <rosparam file="$(find<br>
my_controller_pkg)/config/local_costmap_params.yaml" command="load" /><br>
    <rosparam file="$(find<br>
my_controller_pkg)/config/global_costmap_params.yaml" command="load" /><br>
    <rosparam file="$(find<br>
my_controller_pkg)/config/base_local_planner_params.yaml" command="load" /><br>
  </node><br>
</launch><br>
<br>
and my laser is here in the costmap yaml:<br>
<br>
observation_sources: base_scan<br>
<br>
base_scan: {sensor_frame: base_laser_link, data_type: LaserScan,<br>
expected_update_rate: 0.2,<br>
  observation_persistence: 0.0, marking: false, clearing: true,<br>
min_obstacle_height: -0.08, max_obstalce_height: 2.0}<br>
<br>
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</blockquote></div><br>