MoveIt visual tools demo (visual_tools_demo.launch ) is not wotrking

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I know this is a really late answer, but for others stumbling upon this kind of question. The error message indicates that the topic contains the right message type, but the version and thus the md5 checksum are different. This means that Rviz and moveit_visual_tools were build using different versions of the message.

Probably the moveit visual tools messages are newer as they are built from source and rviz probably isn't. You can compare the checksums yourself by running the command rosmsg md5 visualization_msgs/Marker. Running this command after you have sourced the ros installation (/opt/ros/ROS_DISTRO/setup.bash) and once after you have source the workspace should let you know if this is indeed the case.

Solving this issue requires one of the two programs to use the older messages. You could build the older messages in the workspace or building rviz from source.