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I'm not sure, how move_base handles the /move_base_simple/goal, but if it is an action, you could try sending a fully empty GoalID message to move_base. According to actionlib/DetailedDescription this should cancel all goals.

The command thus should be fairly simple:

rostopic pub /test actionlib_msgs/GoalID -- {}

I'm not sure, how move_base handles the /move_base_simple/goal, but if it is an action, you could try sending a fully empty GoalID message to move_base. move_base/cancel. According to actionlib/DetailedDescription this should cancel all goals.

The command thus should be fairly simple:

rostopic pub /test /move_base/cancel actionlib_msgs/GoalID -- {}