ros node as publisher and action client error

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Hi

I implemented a ros node that is a publisher (to publish initial pose of robot), and action client to send the goal to move_base

I have two text file: one contains start positions ( one x,y coord in each line), the other file contains goal positions ( one x,y coord in each line), for simlicity, each file contains only 2 lines.

Terminal commands:

New Terminal:

roslaunch rosbot_navigation move_my_rosbot.launch

This lanuch file contains the move_base, and it was working perfectly if I publish start and goal using the terminal. It launches Gazebo and Rviz, and every thing is ok.

New Terminal:

cd ~/Desktop/Eman/ros_workspace

source devel/setup.bash

rosrun ros_navigation_experiment ros_navigation_experiment_node

This is my launch file:

<launch>
    <arg name="use_rosbot" default="false"/>
    <arg name="use_gazebo" default="true"/>
    <param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>
<!-- Bring the ROSbot model and show it in Gazebo and in Rviz  -->
    <include file="$(find rosbot_description)/launch/rosbot_rviz.launch"/>
<!-- Map server -->
    <arg name="map_file" default="$(find rosbot_navigation)/maps/willowgarage-refined.yaml"/>
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!--- tf -->
    <node unless="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="map_odom_tf" args="0 0 0 0 0 0 map odom 100" /> 
    <node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 3.14 0 0 base_link laser 100" />

    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
    </node>
<!--- Localization: Run AMCL -->
  <node pkg="amcl" type="amcl" name="amcl" output="screen">
        <remap from="scan" to="/scan"/>
        <rosparam file="$(find rosbot_navigation)/config/amcl.yaml" command="load" />

    </node>
<!-- Move base -->
    <node pkg="move_base" type="move_base" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
        <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> 
        <param name="controller_frequency" value="30.0"/> <!-- default is 20.0 -->
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/teb_local_planner_params.yaml" command="load" />
    </node>
</launch>

This is my amcl.yaml

use_map_topic: true

odom_frame_id: "odom"
base_frame_id: "base_link"
global_frame_id: "map"

initial_pose_x : 0
initial_pose_y : 0

## Publish scans from best pose at a max of 10 Hz
odom_model_type: "diff"
odom_alpha5: 0.1
gui_publish_rate: 10.0
laser_max_beams: 60
laser_max_range: 12.0
min_particles: 500
max_particles: 2000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
## translation std dev, m 
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
aser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
laser_likelihood_max_dist: 2.0
update_min_d: 0.25
update_min_a: 0.2

resample_interval: 1

## Increase tolerance because the computer can get quite busy 
transform_tolerance: 1.0
recovery_alpha_slow: 0.001 ...