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You need to add something that publishes the odometry.

Odometry is telling navigation how much your robot has moved (or how much it thinks it has moved). If you don't have that, navigation assumes the robot isn't actually moving.

As for how you would do that (to catch that question in advance) it matters a lot what you're actually using as a robot. Are you using a Gazebo simulation? Then you're probably using the gazebo_ros diff_drive_controller. In that case it's as simple as setting the parameter publishOdomTF to true.

If you're using a physical robot, then the question is "how are you moving it". If you're using ros_control, you need to tell it to publish the odometry (again, by changing a parameter).