[solved] help needed: move_base planner not publishing

edit

Goal: I would like to see the paths generated by the global and local planner of move_base when I select a goal in RVIZ.

Problem: Planners are silent and don't publish anything to '/move_base/TrajectoryPlannerROS/global_plan' or '/move_base/TrajectoryPlannerROS/local_plan'. Any ideas what could be going wrong?

Details:

As far as I can tell I have properly hooked up all the topics to move_base: rosgraph.png

And the frames look okay too: frames.jpg

Once my launch file has started (logs here), I select a 2D Nav goal in RVIZ. This should publish the new goal to '/move_base_simple/goal' which indeed is happening:

$ rostopic echo /move_base_simple/goal
header: 
  seq: 5
  stamp: 
    secs: 1585284848
    nsecs:  54221300
  frame_id: "t265_odom_frame"
pose: 
  position: 
    x: 1.12253463268
    y: -0.101541228592
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
---

I also verified that move_base is subscribed to this topic:

$ rostopic info /move_base_simple/goal
Type: geometry_msgs/PoseStamped

Publishers: 
 * /rviz_1585284572168004938 (http://t430:38712/)

Subscribers: 
 * /move_base (http://rovy:44877/)
 * /rviz_1585284572168004938 (http://t430:38712/)

But I'm not getting any messages on '/move_base/TrajectoryPlannerROS/global_plan':

$ rostopic hz /move_base/TrajectoryPlannerROS/global_plan
subscribed to [/move_base/TrajectoryPlannerROS/global_plan]
no new messages
no new messages
no new messages
no new messages
no new messages

In RVIZ I have subscribed to the relevant topics that are needed to display the paths:

Yet nothing happens when I set a new goal. See this video.

Here are my yaml configurations for move_base:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0

footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]

map_type: costmap
transform_tolerance: 5 # seconds

origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: d435_link, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
   global_frame: map
   robot_base_frame: t265_odom_frame
   update_frequency: 1.0
   publish_frequency: 0.5
   static_map: true
   transform_tolerance: 0.5

local_costmap_params.yaml:

local_costmap:
   global_frame: map
   robot_base_frame: t265_odom_frame
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: true
   rolling_window: true
   resolution: 0.05
   transform_tolerance: 0.5

base_local_planner_params.yaml:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

Edit Mar-27-2020:

Added video showing setting goals close to robot, see here.

RVIZ logs after setting goals:

[ INFO] [1585371517.565962249]: Setting goal: Frame:t265_odom_frame, Position(0.541, 0.076, 0.000), Orientation(0.000, 0.000, 0.054, 0.999) = Angle: 0.108

[ INFO] [1585371524.431341717]: Setting goal: Frame:t265_odom_frame, Position(-0.330, -0.041, 0.000), Orientation(0.000, 0.000, 0.996, -0.091) = Angle: -2.958

[ INFO] [1585371532.356154279]: Setting goal: Frame:t265_odom_frame, Position(0.397, -0.203, 0.000), Orientation(0.000, 0.000, -0.365, 0.931) = Angle: -0.746

rtabmap/move_base logs when/after setting a goal (nothing extra gets logged):

[ INFO] [1585371594.570278720]: Assembled 0 obstacle and 0 ground clouds (4784 points, 0.000046s)
[ INFO] [1585371594.571044454]: rtabmap (282): Rate=0.50s, Limit=0.000s, RTAB-Map=0.1183s ...