Using navigation stack without laser/point cloud

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Hello, I am currently using the navigation stack for simulation with a fake laser. However, I'd like to remove the laser since I plan on using data from a motion capture system. The entire area where the robot is moving can be precisely check for obstacle without the laser or a local costmap and a map (nav_msgs/occupancygrid) is generated. Every time I try to remove it one way or another, I get endless warnings of "The base_scan observation buffer has not been updated for X seconds, and it should be updated every 0.40 seconds." and "[/move_base_node]:Sensor data is out of date, we're not going to allow commanding of the base for safety", so nothing moves. Is it possible to use this stack without a laser/point cloud?