move_base_flex loading DWB_local_planner using Adapter, but cannot plan

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Hi, I'm trying to get familiar with SMACH and adapting tutorial, but changing default dwa_local_planner to DWB, since it showed a great performance.

Since It's nav_core, I'm using nav_core_adapter, loading DWB_local_planner as:

controllers: - name: 'BaseLocalPlanner' type: 'nav_core_adapter::LocalPlannerAdapter'

LocalPlannerAdapter: planner_name: dwb_local_planner::DWBLocalPlanner DWBLocalPlanner: update_frequency: 5.0

While running move_base_flex, all the things are loaded without errors, but when choosing a goal, I'm getting a lot of :

[ERROR] []: computeVelocityCommands exception: No valid trajectories out of 0!

Any clue what the reason could be? Am I missing something in SMACH python file?

[EDIT 1]:

planner_ns/evaluation output is a good debugging tool, thanks @David Lu

Output this message:

frame_id: "odom_combined"
twists: []
best_index: 0
worst_index: 0

I found his thread. If I got it right, planner is waiting for /odom topic, but by defalult it's publishing /odom_combined.

Also, local and global planner parameter's global map: set to map in common_parameters.yaml, which needs to be set as odom for local_planner_params.yaml. The last, pay attention to the velocity, as it's explained in the link.