navigation base controller output

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Hi, I have wrote the following package totally the same as tutorials:robot_setup_tf,laser_scan_publisher,odometry_publisher. And I also wrote the following base controller package but when I run by roslaunch, it seems not call the callback. the base controller code:

  #include <ros/ros.h>
  #include <geometry_msgs/Twist.h>
  #include <iostream>

  using namespace std;

  void cmdVelReceived(const geometry_msgs::Twist::ConstPtr& cmd_vel);

  int main(int argc,char **argv)
  {
    cout << "123" << endl;
    ros::init(argc, argv, "robot_setup_base");
      ros::Subscriber cmd_vel_sub;
      ros::NodeHandle node_;
      cmd_vel_sub =       node_.subscribe<geometry_msgs::Twist>("robot_0/cmd_vel", 1,       boost::bind(cmdVelReceived,_1));
      ros::spin();
    return 0;
  }

  void cmdVelReceived(const geometry_msgs::Twist::ConstPtr& cmd_vel)
  {
    cout << "x=" << cmd_vel->linear.x << endl;
    cout << "y=" << cmd_vel->linear.y << endl;
    cout << "theta=" << cmd_vel->angular.z << endl;
  }

And my launch file is

  <launch>

    <master auto="start"/>
    <param name="/use_sim_time" value="true"/>  

    <node pkg="robot_setup_laser" type="laser"       name="sensor_node_name" output="screen">
      <param name="sensor_param" value="param_value" />
    </node>

    <node pkg="robot_setup_odometry" type="odometry"       name="odom_node" output="screen">
      <param name="odom_param" value="param_value" />
    </node>

    <node pkg="robot_setup_tf" type="tf_broadcaster"       name="transform_configuration_name" output="screen">
      <param name="transform_configuration_param" value="param_value"       />
    </node>

    <node pkg="robot_setup_base" type="base" name="base"       output="screen">
      <param name="transform_configuration_param" value="param_value"       />
    </node>

    <!--- Run AMCL -->
    <include file="$(find amcl)/examples/amcl_diff.launch" />

    <node pkg="map_server" type="map_server" name="map_server"       args="$(find navigation_stage)/stage_config/maps/willow-full.pgm 0.1"       respawn="false" >
      <param name="frame_id" value="/map" />
    </node>

    <node pkg="stage" type="stageros" name="stageros" args="$(optenv       ROS_STAGE_GRAPHICS -g) $(find       navigation_stage)/stage_config/worlds/willow-pr2-multi.world" respawn="false">
      <param name="base_watchdog_timeout" value="0.2"/>
    </node>

    <!-- Throttle the voxel grid that is being published for rviz -->
    <node ns="move_base_node/local_costmap"       name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages       voxel_grid 3.0 voxel_grid_throttled" />

    <group ns="robot_0">
      <param name="tf_prefix" value="robot_0" />
      <node pkg="move_base" type="move_base" respawn="false"       name="move_base_node" output="screen">
        <remap from="map" to="/map" />
        <param name="controller_frequency" value="10.0" />
        <rosparam file="$(find       navigation_stage)/move_base_config/costmap_common_params.yaml"       command="load" ns="global_costmap" />
        <rosparam file="$(find       navigation_stage)/move_base_config/costmap_common_params.yaml"       command="load" ns="local_costmap" />
        <rosparam file="$(find       navigation_stage)/move_base_config/local_costmap_params.yaml"       command="load" />
        <rosparam file="$(find       navigation_stage)/move_base_config/global_costmap_params.yaml"       command="load" />
        <rosparam file="$(find       navigation_stage)/move_base_config/base_local_planner_params.yaml"       command="load" />
      </node>


        <node pkg="fake_localization" type="fake_localization"       name="fake_localization" respawn="false">
      </node>

    </group>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find       navigation_stage)/multi_robot.vcg" />
  </launch>


  And the output:

  sam@sam-M51Kr:~/code/ros/ira_navigation/nav_core/launch$ roslaunch       robot_conf.launch 
  ... logging to       /home/sam/.ros/log/e84ff146-891a-11e0-93d5-0015afe5d6b9/roslaunch-sam-M51      Kr-4359.log
  Checking log directory for disk usage. This may take awhile.
  Press Ctrl-C to interrupt
  Done checking log file disk usage. Usage is <1GB.

  WARNING: ignoring defunct <master /> tag
  started roslaunch server http://sam-M51Kr:41097/

  SUMMARY
  ========

  PARAMETERS
   * /use_sim_time
   * /amcl/gui_publish_rate
   *       /robot_0/move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
   * /base/transform_configuration_param
   * /robot_0/move_base_node/TrajectoryPlannerROS/y_vels
   * /robot_0/move_base_node/local_costmap/unknown_threshold
   * /amcl/recovery_alpha_slow
   * /amcl/laser_z_short
   * /robot_0/move_base_node/local_costmap/origin_y
   * /robot_0/move_base_node/TrajectoryPlannerROS/min_vel_x
   * /robot_0/move_base_node/TrajectoryPlannerROS/sim_time
   * /robot_0/move_base_node/TrajectoryPlannerROS/heading_lookahead
   * /robot_0/move_base_node/global_costmap/base_scan/data_type
   * /robot_0/move_base_node/global_costmap/static_map
   * /amcl/laser_z_rand
   * /robot_0/move_base_node/global_costmap/mark_threshold
   * /robot_0/move_base_node/local_costmap/mark_threshold ...