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You are waiting for the action server /move_base/cmd_vel. If you haven't reconfigured move_base somehow, the right action server name would be /move_base (see the move_base documentation, as well as the actionlib documentation on how to use the action interface.

For indoor localization, SLAM or gmapping is only required if you want to create a map. If you already have a map, you can also use amcl in combination with the map_server.