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The fact that the /cmd_vel topic is empty makes me believe that the problem is more on the side of your motor controller than on the path planning or localization side. It might be skipping messages (not applying the /cmd_vel message to the motors) or there might be a hardware problem with the motor communication.
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The fact that the /cmd_vel topic is empty makes me believe that the problem is more on the side of your motor controller than on the path planning or localization side. It might be skipping messages (not applying the /cmd_vel message to the motors) or there might be a hardware problem with the motor communication.
[Update]
To follow up on your update, the bug is definitely on the motor side (move_base behaves as planned, sending 0 velocity messages when the last goal is reached). The problem probably lies in the node subscribed to /cmd_vel that sends (serial?) commands to the motor controller. You could check that node and try to understand exactly what it does when it receives a message on /cmd_vel. It might be ignoring messages with certain conditions or it might simply be a bug.
If everything seems ok, then the bug might be in the communication with the controller or in the actual hardware controller.
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