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solved by davidteixeira @ github https://github.com/ros-planning/navigation/issues/927

Alright, I found the problem: it was my odometry calculation. Specifically (if anyone runs into this issue), the velocity was being published in the 'base_link' frame, but calculated in the 'odom' frame, i.e., for this robot, which is non-holonomic, the velocity of the robot should be the same as vx; vy should always equal 0. I got the idea from the differential-drive package.