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robot_pose_ekf subscribes only to the Pose portion of odom to give the estimated pose.

whereas move_base takes only the velocity information from odom. if you look at the diagram, the "odom" message goes to the local planner which is the base_local_planner. This subscribes to odom which uses the velocity for trajectory calculations

so I don't think you can use the robot_pose_ekf output for navigation planning

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