Set x,y goals and move the robot

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I have a robot on mecanum wheels and I installed on it a sensor able to provide x,y,z coordinates of its position at 10Hz. Morever, I placed four beacons in the four corners of the room in order to create a map.

I created a ROS node to publish /odom information:

rostopic echo /odom 
header: 
  seq: 3311
  stamp: 
    secs: 1584301150
    nsecs: 996412185
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 2.877
      y: 3.779
      z: 0.0
    orientation: 
      x: -0.018200000748
      y: 0.033900000155
      z: 0.00289999996312
      w: 0.999199986458
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.00457195335154
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

This is my TF tree:

Then, I run move_base:

rosrun move_base move_base 
[ INFO] [1584298281.544211877]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1584298281.550544640]:     Subscribed to Topics: 
[ INFO] [1584298281.556913732]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1584298281.598466274]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1584298281.601248532]:     Subscribed to Topics: 
[ INFO] [1584298281.609893696]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1584298281.664725185]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1584298281.672399153]: Sim period is set to 0.05
[ WARN] [1584298281.677701194]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution.
[ INFO] [1584298281.865343424]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1584298281.872604788]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1584298281.996921593]: odom received!

and I publish the first goal:

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "base_link"}, pose: {position: {x: 1.0, y: 2.2, z: 0.0}, orientation: {w: 1.0}}}'

I can see the robot IMMEDIATELY change its position in RVIZ, but if I read thecmd_vel topic, I always find ZERO values. Shouldn't move_base update thecmd_vel topic to send the values to a robot controller?

I just get this from cmd_vel:

linear: 
  x: -0.1
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0
---
linear: 
  x: -0.1
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0