2D nav goal doesn't work

edit

I have been given the task to fix this custom robot to have the ability to use the 2D nav goal

this has been a project handed down student to student

There is an existing roslaunch that activates all the nodes however 2D nav goal does not work

Here is the roslaunch code and keyboard teleop as well I was told that I need to launch both to achieve 2D nav goal

yinht@yinht-desktop:~$ roslaunch hostbot hostbot.launch
... logging to /home/yinht/.ros/log/475151fc-ef50-11e6-a633-00215cbf656c/roslaunch-yinht-desktop-12680.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yinht-desktop:42810/

SUMMARY
========

PARAMETERS
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 5000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.8
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: omni
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.5
 * /amcl/update_min_d: 0.2
 * /arduino/baud: 115200
 * /arduino/port: /dev/ttyUSB0
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /diffusion_tf/angle_std_mean_deviation_deg: 10
 * /diffusion_tf/angular_scale: 1.0
 * /diffusion_tf/base_frame_id: base_link
 * /diffusion_tf/base_width: 0.34
 * /diffusion_tf/linear_scale: 1.0
 * /diffusion_tf/odom_frame_id: odom
 * /diffusion_tf/pos_std_mean_deviation: 0.1
 * /diffusion_tf/publish_tf: True
 * /diffusion_tf/rate: 40
 * /diffusion_tf/vit_ang_std_mean_deviation_deg: 3
 * /diffusion_tf/vit_std_mean_deviation_deg: 1
 * /hokuyo_laser/calibrate_time: False
 * /hokuyo_laser/frame_id: base_laser_link
 * /hokuyo_laser/intensity: False
 * /hokuyo_laser/max_ang: 1.4
 * /hokuyo_laser/min_ang: -1.4
 * /hokuyo_laser/port: /dev/ttyACM0
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.0
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.0
 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
 * /move_base/TrajectoryPlannerROS/dwa: True
 * /move_base/TrajectoryPlannerROS/escape_vel: -0.05
 * /move_base/TrajectoryPlannerROS/gdist_scale: 0.6
 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
 * /move_base/TrajectoryPlannerROS/heading_scoring: False
 * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
 * /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
 * /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.8
 * /move_base/TrajectoryPlannerROS/prune_plan: True
 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
 * /move_base/TrajectoryPlannerROS/sim_time: 1.0
 * /move_base/TrajectoryPlannerROS/simple_attractor: False
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 20
 * /move_base/TrajectoryPlannerROS/vx_samples: 8
 * /move_base/TrajectoryPlannerROS/vy_samples: 0
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.3
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.15
 * /move_base/clearing_rotation_allowed: False
 * /move_base/controller_frequency: 5.0
 * /move_base/global_costmap/footprint: [[0.2, 0.2], [0 ...