I'm trying to set up movebase, with odometry provided by robotlocalization. When I launch, however, movebase does not seem to subscribe to "odom" - the topic is not visible in `rqtgraphand doesn't get listed byrostopic list`.

My understanding of move_base (and the nav stack) was that it should be trying to subscribe to "odom" by default. Would anyone be able to tell me where I've gone wrong?

This is what the rqt_graph looks like:

And this is what my .launch file looks like (note, I pretty much copied the .yaml configs from http://wiki.ros.org/navigation/Tutorials/RobotSetup):

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_node">
    <!-- switch on debug -->
    <param name="debug" value="true"/>

    <!-- node configuration -->
    <param name="frequency" value="30"/>
    <param name="sensor_timeout" value="0.1"/>
    <param name="two_d_mode" value="false"/>

    <!-- may need to change these depending on the frame_ids used by the playback data -->
    <param name="map_frame" value="map"/>
    <param name="odom_frame" value="odom"/>
    <param name="base_link_frame" value="base_link"/>
    <param name="world_frame" value="odom"/>

    <!-- SUBUSCRIBE to: IMU "/nova_common/IMU" -->
    <param name="imu0" value="/nova_common/IMU"/>
    <param name="imu0_differential" value="false"/> <!-- set false if with navsat transform -->
    <rosparam param="imu0_config">[true,true,true,
                                   true,true,true,
                                   true,true,true,
                                   true,true,true,
                                   true,true,true]</rosparam>

    <!-- PUBLISH to: "/odom" -->
    <remap from="odometry/filtered" to="/odom"/>
</node>

<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
    <param name="frequency" value="30"/>

    <!-- SUBSCRIBE to: "/nova_common/IMU"; "/nova_common/gps_data"; "/odom" -->
    <remap from="imu/data" to="/nova_common/IMU"/>
    <remap from="gps/fix" to="/nova_common/gps_data"/>
    <remap from="odometry/filtered" to="/odom"/>

    <!-- PUBLISH to: "/ekf/gps_data"-->
    <param name="publish_filtered_gps" value="true"/>
    <remap from="gps/filtered" to="/ekf/gps_data"/>
</node>

<node pkg="move_base" type="move_base" name="move_base" respawn="false">
    <rosparam file="costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <rosparam file="local_costmap_params.yaml" command="load"/>
    <rosparam file="global_costmap_params.yaml" command="load"/>
    <rosparam file="base_local_planner_params.yaml" command="load"/>
</node>