move_base is constantly sending escape command

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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:

• max_vel_x: 0.35
• min_vel_x: 0.25
• escape_vel: -0.23
• min_in_place_vel_theta: 0.6
• xy_goal_tolerance: 0.2
• yaw_goal_tolerance: 0.1
• holonomic_robot: false
• latch_xy_goal_tolerance: true
• oscillation_reset_dist: 0.25

global_costmap:

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

costmap_common_params

• 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
• track_unknown_space: true
• observation_sources: laser_scan_sensor
• laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}