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Shouldn't your goal pose be relative to the fixed frame (which might be map)?

Shouldn't your goal pose be relative to the fixed frame (which might be map)?

Edit: A of course the odom frame is fixed, sorry. Haven't used the nav stack in a while.

A few things to try out is sending the robot to do translation as well as rotation and manually inspecting the cmd_vel topic to see what the planner/controller is trying to do. You can also visualize the planned path as well as the goal pose in rviz [1].

[1] http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack