move_base problem: i ran move_base node to accept the /scan topic from rplidar node, but the move_base node wants the /CloudPoint type rather than /LaserScan type.

edit

the error info is shown below:

Client [/move_base] wants  topic /scan to have datatype/md5sum [sensor_msgs/PointCloud/...], but our version has [sensor_msgs/LaserScan/...].Dropping Connection.

I think i have configured the observation_source in the costmap_common_params.yaml file as below, but it still shows that move_base node wants the PointCloud type of topic /scan. The topic /scan is published as LaserScan type. Does anyone have ideas on this problem? with great thanks.

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.16,0],[0,0.16],[0.16,0]]
robot_radius:ir_of_robot
inflation_radius: 0.55
observation_sources: scan
scan: {datatype: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

and the other config file for move_base is shown as below:

global_costmap_params.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  width: 6.0
  resolution: 0.05

base_local_planner_params.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false