move_base not executing, robot does not receive the goal

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Hello,

I am doing SLAM using HUSKY A200, (ros1 kinetic on both end - robot and remote pc). I am using hector mapping for my mapping. I want to do SLAM without saving the map, just by using the 2D Nav goal in the rviz. I am using husky's move_base for that purpose. I am using a pepperl_fuchs_r2000 laser scanner.

My ROS master is set to in my remote pc .bashrc as:

export ROS_MASTER_URI=http://cpr-a200-0468:11311

Network config: Husky: ROS_IP: 192.168.131.1 ROS_HOSTNAME:cpr-a200-0468

Remote PC: ROS_IP:192.168.131.10 HOSTNAME: rosi

SETUP: All my husky bringup scripts (navsat.launch, um7.launch, base.launch are added as robot_upstart script. Only r2000(laser), hector_mapping, move_base is launched from my remote pc. I can rostopic echo /tf from my remote pc on husky boot up.

I had some issues with the tf frames and time mismatch between the system.

TF_OLD_DATA ignoring data from the past for frame base_link

I solved those using other ros posts, also used chrony for syncing the husky time with my remote pc time. Now I can get the scanned map but when I send the nav goal it does not execute.

I did publish my messages from rviz and tried listening over on husky end:

rostopic echo /move_base_simple/goal

but no message appears on the husky terminal (sshed over wifi). Just to make sure I send some cmd_velocity across the system from the terminal:

husky:

rostopic pub /cmd_vel geometry_msgs/Twist "linea::
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message. Press ctrl-C to terminate

remote pc:

rostopic echo /cmd_vel

But I hear nothing but the robot moves. Vice versa:

remote pc: published

husky listening: nothing received

robot does not move.

The launch file launching the laser, hector_mapping and move_base is as follows:

<?xml version="1.0"?>
<launch>
  <arg name="frame_id" default="base_laser"/>
  <arg name="scanner_ip" default="192.168.131.12"/>
  <arg name="scan_frequency" default="35"/>
  <arg name="samples_per_scan" default="3600"/>

  <!-- R2000 Driver -->
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_node" respawn="true" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="scanner_ip" value="$(arg scanner_ip)"/>
    <param name="scan_frequency" value="$(arg scan_frequency)"/>
    <param name="samples_per_scan" value="$(arg samples_per_scan)"/>

 </node>

<node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" args="0 0 0 0 0 0 map odom 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_baselink_broadcaster" args="0 0 0 0 0 0 odom base_link  100" />
 <!--- Run gmapping 
 <include file="$(find husky_navigation)/launch/gmapping.launch" />-->
<!-- <node pkg="tf" type="static_transform_publisher" name="robot_state" args="0.35 0 0.15 0 0 0 base_link base_laser  10" /> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find husky_description)/urdf/husky.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />


<!--- Run Hector_mapping -->
<include file="$(find hector_mapping)/launch/mapping_default.launch" />
 <!--- Run Move Base -->
  <include file="$(find husky_navigation)/launch/move_base.launch" />


<!-- RVIZ -->

<node pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find pepperl_fuchs_r2000)/rviz/rviz ...