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You are posting the position of the door in reference to the /odom-frame which ist NOT the position of the robot but the place where the robot started. You should read through the ROS navigation pages where also the frames used for localization and navigation are explained ( http://ros.org/wiki/navigation/ ). Usually you should post the position of the door in reference to the /map-frame and then ask for the transformation between you robot base_link or base-footprint-frame (which you basically did) given your robot's base-frame is /base_link.