Robot is not moving, Please check my rqt_graph

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Hello everyone, i'm trying to create a map for my robot, i'm following this guide:

http://wiki.ros.org/slam_gmapping/Tut...

So, i launch my_robot_configuration.launch and move_base.launch from the navigation stack.

i'm giving the following commands from the previous guide:

rosrun gmapping slam_gmapping scan:=sonar_laser_scan
rosbag record -O sonarscan /sonar_laser_scan /tf

Everything seems okay, so now i open rviz to lookup what is going on:

rosrun rviz rviz

and set up a static map on topic /map to see the results.

The maps shows up, but the robot is stuck in start position. I would like to let my robot move avoiding obstacles in order to create a map. I tried to set up 2d nav goal, but nothing is happening.

Here is my rqt_graph:

C:\fakepath\Immagine.png

Here is my rviz:

C:\fakepath\Immagine1.png

How can i move my robot in order to create the map? is there something wrong with my rqt_graph? Thank u so much!