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It looks like you're wrapping the sending of a goal via a custom function: publishMoveBaseGoal, so it's hard to tell what's going on here but I have two guesses. First, you might not be evaluating if you've successfully completed the goal before sending a new one. If you wait until the action has completed you won't have two competing goals potentially leading to this state. The other thing to check would be if you're publishing directly to the /move_base/goal topic (as the function name implies). The move base goals are implemented as an Action, so you should be calling them via the actionlib client and then waiting for completion.