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OK, I found the problem. For some reason, I had earlier set the update_frequency parameter to 0.0 in my global_costmap_params.yaml file. Apparently this causes the move_base server to not accept client connections. Once I set the update_frequence parameter to 1.0, everything started working again.
P.S. The reason I had set it to 0.0 was that I was trying to block off a room on my map by simply drawing a line across the doorway. However, the robot kept clearing the line when the laser scan passed through that doorway. Someone had suggested turning off the updates on the global costmap so I set the update frequency to 0. Perhaps I only need to set the publish_frequency to 0 to get the desired behavior?
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