Unable to publish to move_base

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I am trying to stop the robot and this the code I have written in my program

ros::Publisher pub1 = nh_->advertise<actionlib_msgs::goalid> ("/move_base/cancel", 1000);

actionlib_msgs::GoalID msg;

msg.id = "";

ros::spinOnce();

pub1.publish(msg);

But, the robot continues to move and I even checked by listening to the topic using the below command but found no response.

rostopic echo /move_base/cancel

However, when I try to publish to the topic, directly from terminal, it works.

rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}

and also listening to the topic

rostopic echo /move_base/cancel

gives the below message

stamp: secs: 0 nsecs: 0 id: ''

Any idea why this might happen?

Node handle declaration:

class Door {

public: Door(ros::NodeHandle* nh);

protected: ros::NodeHandle *nh_;

};

Door::Door( ros::NodeHandle* nh ) {

nh_ = nh;
}

int main(int argc, char**argv) {
ros::init(argc, argv,"robot_navigation");

ros::NodeHandle nh;

ros::NodeHandle privateNode("~");
Door door(&nh);