Navigation influences gmpping?

hey, I try to run the navigation stack and gmapping on my robot. the Robot should be able to navigate in to "free space" and make a map of the environment. Everything is fine, until i give the first navigation goal via rviz. The robot is moving ( i think it is moving correctly btw) But the Odometry gets destroyed as soon es the robot moves.  My odometry is actually very good and gmapping is god if i move th robot with a teleop-node (keyboad) do you have any ideas why the navigationstack is influencing my gmapping/odometry things? Move_base.launch I get this warning: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0708 seconds I'm not sure whether this i important o that problem, but i get this error from my freenect driver(for the kinect i use): [ERROR] [1532773969.963026644]: Client [/move_base] wants topic /camera/depth/points to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection. that one is a mirical to my, becaus i wanted to use the laserscan i have created from that pointcloud2 or navigation...and i difine tht in the costmap_common_params: obstacle_range: 2.5 raytrace_range: 3.0 robot_radius: 0.25 inflation_radius: 0.55 observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: camera_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true} thank you for your help!