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To say what Felix said a slightly different way...
As input, move_base takes a PoseStamped, which specifies a particular pose (location and orientation)
The published topic unknown_space is of type GridCells. This is a visualization message that specifies an area of the map.
To get the behavior you want, you'll have to write a node that takes in the GridCells message and pick a (random?) point and send that as a PoseStamped to move_base.
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