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Silly question, but have you enabled the motors on the platform itself? It's been a while since I used a P3AT, but I know the Pioneer 3 has a button that needs to be pressed to enable the motors. Also, have you tried changing the X linear velocity to something larger than 0.1? Try 0.5 or 1.0. Finally, try doing rostopic info /cmd_vel to ensure that the topic is in fact being subscribed to by the ROSARIA node.