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Ok solved it!!! The problem was that not all my ROS hosts were able to talk to each other.

t430 -> rovy worked fine, but rovy -> t430 did not work. This explains why 'move_base' which is running on host rovy did not receive goals from RVIZ running on host t430. When I checked the topic with rostopic echo /move_base_simple/goal I did that on t430, hence I didn't notice that they're not received on rovy.

Sorry guys, this was a bad setup on my end. Lesson learned: Always make sure that all the ROS nodes on all hosts can see and talk to each other.

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