I have a robot set up with a pointcloud camera which I convert to laserscan and t2665 for odometry. When I run it with Office it looks like all of the transforms are pointing in the right direction and I can control it manually with the joystick and it goes in the right direction. But whenever I try to give it a goal in rviz it starts moving backwards at the escape_vel speed. No errors though. Here's at least what I think are the relevant parameters.

TrajectoryPlannerROS:

• maxvelx: 0.35
• minvelx: 0.25
• escape_vel: -0.23
• mininplaceveltheta: 0.6
• xygoaltolerance: 0.2
• yawgoaltolerance: 0.1
• holonomic_robot: false
• latchxygoal_tolerance: true
• oscillationresetdist: 0.25

global_costmap:

• global_frame: odom
• robotbaseframe: base_link
• transform_tolerance: 2.5 # seconds
• update_frequency: 10
• publish_frequency: 5
• width: 30.0
• height: 30.0
• static_map: false

costmapcommonparams

• obstacle_range: 6.0
• raytrace_range: 8.5
• footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
• map_topic: /map
• trackunknownspace: true
• observationsources: laserscan_sensor
• laserscansensor: {sensorframe: cameradepthframe, datatype: LaserScan, topic: scan, marking: true, clearing: true}