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Immediate steps:

  • Try removing that weird while loop, just use ac.waitForServer() if you want to block until a connection is made. While loop without a code block is ambiguous, though I'm not sure if could lead to undefined behaviour.

  • You should not be running both the static transform and the fake_localization, they are doing the same thing.

That should guarantee the map-> odom transform should be working. I'm guessing your robot_driver is providing odom -> base_link, and you've tested that that is working correctly.

Now, which node is running the above MoveClient code? Just want to make sure it's not interfering with your robot_driver in any way.

Also, can you connect and issue goals to move_base using the handy dandy debug tool rosrun actionlib /move_base?