Nav2 planner_server's compute_path_to_pose hangs indefinitely

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We're attempting to implement a basic nav2 stack on our robot. We haven't included obstacle finding or any mapping at all. Our node setup contains the nav2_bt_navigator node, nav2_planner, and nav2_controller, plus a number of peripherals:

• Real-time localization is provided by integrating our wheel encoders. We do not have a robot_localization node running yet, so this odom value is fed directly into tf and the /odom topic.
• Global localization is provided using a proprietary VSLAM node. We do the necessary math such that the tf tree looks like: map -> odom -> base_link
• Motor output is fed into our Odrive motor driver node. This bit hasn't been relevant yet because no such motor output is being produced.
• We provide a completely blank static map. The idea is to get the robot to move with no concern for obstacles before we add those in.
• All obstacle detection, real-time mapping, etc., is disconnected.

We generally duplicated the example configuration file from the nav2_bringuppackage. It's too long to include in this post, so I put it here: https://pastebin.com/FXaPuEFS

And the relevant bits of our launch file:

param_substitutions = {"use_sim_time": "false", "yaml_filename": "turtlebot3_world.yaml"}

configured_params = RewrittenYaml(source_file=params_file, root_key=namespace, param_rewrites=param_substitutions, convert_types=True)
lifecycle_nodes = ["controller_server", "planner_server", "bt_navigator"]
load_nodes = GroupAction(
    actions=[
        PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
        Node(
            package="nav2_controller",
            executable="controller_server",
            output="screen",
            respawn=use_respawn,
            respawn_delay=2.0,
            parameters=[configured_params],
            remappings=remappings,
            # arguments=['--ros-args', '--log-level', 'debug']
        ),
        Node(
            package="nav2_planner",
            executable="planner_server",
            name="planner_server",
            output="screen",
            respawn=use_respawn,
            respawn_delay=2.0,
            parameters=[configured_params],
            # prefix=['xterm -e gdb -ex run --args'],
            remappings=remappings,
            arguments=['--ros-args', '--log-level', 'debug']
        ),
        Node(
            package="nav2_bt_navigator",
            executable="bt_navigator",
            name="bt_navigator",
            output="screen",
            respawn=use_respawn,
            respawn_delay=2.0,
            parameters=[configured_params],
            remappings=remappings,
            # arguments=['--ros-args', '--log-level', 'debug']
        ),
        # Node(
        #     package="nav2_waypoint_follower",
        #     executable="waypoint_follower",
        #     name="waypoint_follower",
        #     output="screen",
        #     respawn=use_respawn,
        #     respawn_delay=2.0,
        #     parameters=[configured_params],
        #     remappings=remappings,
        #     # arguments=['--ros-args', '--log-level', 'debug']
        # ),
        Node(
            package="nav2_lifecycle_manager",
            executable="lifecycle_manager",
            name="lifecycle_manager_navigation",
            output="screen",
            parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
            # arguments=['--ros-args', '--log-level', 'debug']
        ),
    ]
)

The whole system starts (and activates) successfully. We've tried sending goal poses through RVIZ. bt_navigator will recognize our actions:

[bt_navigator-8] [INFO] [1653423291.874302388] [bt_navigator]: Begin navigating from current location to (1.85, 3.77)

But then... nothing happens. We used Groot on the bt tree and found that it seems to hang on the planner_server. We manually called the planner server like this:

ros2 action send_goal -f /compute_path_to_pose nav2_msgs/action/ComputePathToPose "{pose: {pose: {position: {x: 5, y: 5, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 1}}, header: {frame_id: 0}}}"
Waiting for an action server to become available...
Sending goal:
     pose:
  header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: '0'
  pose:
    position:
      x: 5.0
      y: 5.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
planner_id: ''

[INFO] [1653422755.926925127] [_ros2cli_send_goal_nav2_msgs_action_ComputePathToPose]: sent goal sequence number 1 for action /compute_path_to_pose
[INFO] [1653422755.927586914] [_ros2cli_send_goal_nav2_msgs_action_ComputePathToPose]: added goal sequence number 1 for action /compute_path_to_pose

But, after the goal state is ... (more)