rviz is not publishing goal to the topic /move_base_simple/goal

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I am setting up ros navigation stack on a robot that is not compatible with navigation stack out of the box. I am not using a static map for the navigation instead i have set the rolling_window parameters true for both global and local cost maps.
(I am not allowed to attach images so i will try my best to describe my situation in words.)

My rviz Screen shows the following objects

• local and global costmaps
• robot footprint.
• "2D Nav Goal" tool is pointing to /move_base_simple/goal.

$ rostopic info /move_base_simple/goal

Publishers: * /rviz_1478194899883990323 ( http://172.20.41.90:44168/ )

Subscribers: * /move_base ( http://172.20.41.90:46055/ )

$ rostopic info /cmd_vel

Publishers: * /move_base ( http://172.20.41.90:46055/ )

Subscribers: * /beam/beam ( http://172.20.41.123:43113/ )

• When I set a goal in rviz using "2D Nav Goal" tool, the terminal window of rviz shows the following information.

INFO [1478195397.235377567]: Setting goal: Frame:base_link, Position(0.558, -0.039, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) = Angle: 0.000

In another terminal window i have following command running "rostopic echo /move_base_simple/goal"

In another terminal window i have following command running "rostopic echo /cmd_vel"

My problem is that when I set a goal in rviz screen i do not see anything published to /move_base_simple/goal or /cmd_vel topics.