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<remap from="scan" to="/pc2"/>

you are feeding the laser_scan_assembler node PointClouds as input while it needs/expects LaserScans.

That won't work.

Input should be LaserScan, output is PointCloud (as part of the service response).

[ERROR] [1540762433.045464456]: Client [/laser_scan_assembler] wants topic /pc2 to have datatype/md5sum [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connect

and:

<remap from="scan" to="/pc2"/>

you are feeding the laser_scan_assembler node PointCloudsensor_msgs/PointCloud2s as input while it needs/expects LaserScansensor_msgs/LaserScans.

That won't work.

Input should be LaserScansensor_msgs/LaserScan, output is PointCloudsensor_msgs/PointCloud2 (as part of the service response).

What node is publishing on the /pc2 topic?