Running move_base with gmapping

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I went though all relevantly tagged questions here and some tutorials, but still can't figure out what's wrong with my setup. As in subject, I'd like to configure move_base to work with gmapping on-line - gmapping is configured correctly, hence running. My config is mostly as described in Navigation Setup Wiki-post, ie.:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.5
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false

local_costmap_params.yaml:

local_costmap:
  global_frame: world
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

base_local_planner_params.yaml:

TrajectoryPlannerROS:

  max_vel_x: 0.1 #m/s
  min_vel_x: 0.0
  escape_vel: -0.1
  max_rotational_vel: 0.1 #rad/s
  min_in_place_rotational_vel: 0.0

  y_vels: [-0.1, -0.0, 0.0, 0.1]

  acc_lim_th: 1.0
  acc_lim_x: 1.0 #m/s2
  acc_lim_y: 1.0

  holonomic_robot: true

move_base.launch:

<launch>
  <master auto="start"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

I launch laser-scan based gmapping before and it's all functional. I selected \world as odom frame in all gmapping packages, so I repeated this in move_base as well, hope this shouldn't be a problem. In rviz I selected move_base_simple in Tool properties -> 2D Nav Goal -> Topic. Yet, when I define a goal, nothing gets published on /cmd_vel topic.

What else do I need? Any hints appreciated.