# Robotics Home / Cannot publish to move\_base / 2D Nav goal doesnt move robot **URL:** \ **Category:** External Requests\ **Tags:** navigation\ **Created:** [January 8, 2023, 6:13pm UTC](https://get-help.theconstruct.ai/t/robotics-home-cannot-publish-to-move-base-2d-nav-goal-doesnt-move-robot/21489 "2023-01-08T18:13:57Z")\ **Posts on this page:** 1\ **Showing post:** 8
**Author:** ![woeberinroslol](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/w/43a26b/32.png) [@woeberinroslol](https://get-help.theconstruct.ai/u/woeberinroslol)\ **Post date:** [January 8, 2023, 8:29pm UTC](https://get-help.theconstruct.ai/t/robotics-home-cannot-publish-to-move-base-2d-nav-goal-doesnt-move-robot/21489/8 "2023-01-08T20:29:17Z")
> [@girishkumar.kannan](#): > > I think you might have missed to fill something important. I am guessing that you would have added the pose position and orientation, but you might have missed to set goal target\_pose frame\_id to `'map'`. > Check if you are using the correct goal message format to send the goal to `move_base` action server. I used this line of code. It worked in other simulations and it also worked when my collegue ran it > [@Publishing to move\_base from command line](https://get-help.robotigniteacademy.com/t/publishing-to-move-base-from-command-line/7925/2): > > Hello @adeoduye , The message has to be something like this: rostopic pub /move\_base/goal move\_base\_msgs/MoveBaseActionGoal "header: seq: 0 stamp: secs: 0 nsecs: 0 frame\_id: '' goal\_id: stamp: secs: 0 nsecs: 0 id: '' goal: target\_pose: header: seq: 0 stamp: secs: 0 nsecs: 0 frame\_id: 'map' pose: position: x: 1.0 y: 2.5 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.75 … > [@girishkumar.kannan](#): > > Honestly, you do not have to. Just learn the concept using turtlebot in The Construct course and apply it to the MIR robot that you use in your homework. > > `gmapping`, `amcl` and `move_base` will work regardle Well, maybe i can make it work, thanks for the help 🙂 --- _[View the full topic](https://get-help.theconstruct.ai/t/robotics-home-cannot-publish-to-move-base-2d-nav-goal-doesnt-move-robot/21489)._