2D nav goal doesn't work

I have been given the task to fix this custom robot to have the ability to use the 2D nav goal this has been a project handed down student to student There is an existing roslaunch that activates all the nodes however 2D nav goal does not work Here is the roslaunch code and keyboard teleop as well I was told that I need to launch both to achieve 2D nav goal yinht@yinht-desktop:~$ roslaunch hostbot hostbot.launch ... logging to /home/yinht/.ros/log/475151fc-ef50-11e6-a633-00215cbf656c/roslaunch-yinht-desktop-12680.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://yinht-desktop:42810/ SUMMARY ======== PARAMETERS * /amcl/gui_publish_rate: 10.0 * /amcl/kld_err: 0.05 * /amcl/kld_z: 0.99 * /amcl/laser_lambda_short: 0.1 * /amcl/laser_likelihood_max_dist: 2.0 * /amcl/laser_max_beams: 30 * /amcl/laser_model_type: likelihood_field * /amcl/laser_sigma_hit: 0.2 * /amcl/laser_z_hit: 0.5 * /amcl/laser_z_max: 0.05 * /amcl/laser_z_rand: 0.5 * /amcl/laser_z_short: 0.05 * /amcl/max_particles: 5000 * /amcl/min_particles: 500 * /amcl/odom_alpha1: 0.2 * /amcl/odom_alpha2: 0.2 * /amcl/odom_alpha3: 0.8 * /amcl/odom_alpha4: 0.2 * /amcl/odom_alpha5: 0.1 * /amcl/odom_frame_id: odom * /amcl/odom_model_type: omni * /amcl/recovery_alpha_fast: 0.0 * /amcl/recovery_alpha_slow: 0.0 * /amcl/resample_interval: 1 * /amcl/transform_tolerance: 0.1 * /amcl/update_min_a: 0.5 * /amcl/update_min_d: 0.2 * /arduino/baud: 115200 * /arduino/port: /dev/ttyUSB0 * /camera/camera_nodelet_manager/num_worker_threads: 4 * /camera/depth_rectify_depth/interpolation: 0 * /camera/driver/auto_exposure: True * /camera/driver/auto_white_balance: True * /camera/driver/color_depth_synchronization: False * /camera/driver/depth_camera_info_url: * /camera/driver/depth_frame_id: camera_depth_opti... * /camera/driver/depth_registration: False * /camera/driver/device_id: #1 * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica... * /diffusion_tf/angle_std_mean_deviation_deg: 10 * /diffusion_tf/angular_scale: 1.0 * /diffusion_tf/base_frame_id: base_link * /diffusion_tf/base_width: 0.34 * /diffusion_tf/linear_scale: 1.0 * /diffusion_tf/odom_frame_id: odom * /diffusion_tf/pos_std_mean_deviation: 0.1 * /diffusion_tf/publish_tf: True * /diffusion_tf/rate: 40 * /diffusion_tf/vit_ang_std_mean_deviation_deg: 3 * /diffusion_tf/vit_std_mean_deviation_deg: 1 * /hokuyo_laser/calibrate_time: False * /hokuyo_laser/frame_id: base_laser_link * /hokuyo_laser/intensity: False * /hokuyo_laser/max_ang: 1.4 * /hokuyo_laser/min_ang: -1.4 * /hokuyo_laser/port: /dev/ttyACM0 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.0 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.0 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025 * /move_base/TrajectoryPlannerROS/dwa: True * /move_base/TrajectoryPlannerROS/escape_vel: -0.05 * /move_base/TrajectoryPlannerROS/gdist_scale: 0.6 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325 * /move_base/TrajectoryPlannerROS/heading_scoring: False * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8 * /move_base/TrajectoryPlannerROS/holonomic_robot: False * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False * /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15 * /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.3 * /move_base/TrajectoryPlannerROS/max_vel_y: 0.0 * /move_base/TrajectoryPlannerROS/meter_scoring: True * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5 * /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.1 * /move_base/TrajectoryPlannerROS/min_vel_y: 0.0 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.8 * /move_base/TrajectoryPlannerROS/prune_plan: True * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False * /move_base/TrajectoryPlannerROS/sim_granularity: 0.025 * /move_base/TrajectoryPlannerROS/sim_time: 1.0 * /move_base/TrajectoryPlannerROS/simple_attractor: False * /move_base/TrajectoryPlannerROS/vtheta_samples: 20 * /move_base/TrajectoryPlannerROS/vx_samples: 8 * /move_base/TrajectoryPlannerROS/vy_samples: 0 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.3 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.15 * /move_base/clearing_rotation_allowed: False * /move_base/controller_frequency: 5.0 * /move_base/global_costmap/footprint: [[0.2, 0.2], [0.2... * /move_base/global_costmap/global_frame: /map * /move_base/global_costmap/inflation_radius: 0.1 * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/max_obstacle_height: 0.6 * /move_base/global_costmap/min_obstacle_height: 0.0 * /move_base/global_costmap/observation_sources: scan * /move_base/global_costmap/obstacle_range: 2.5 * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/raytrace_range: 3.0 * /move_base/global_costmap/resolution: 0.01 * /move_base/global_costmap/robot_base_frame: /base_link * /move_base/global_costmap/rolling_window: False * /move_base/global_costmap/scan/clearing: True * /move_base/global_costmap/scan/data_type: LaserScan * /move_base/global_costmap/scan/expected_update_rate: 0 * /move_base/global_costmap/scan/marking: True * /move_base/global_costmap/scan/topic: /scan * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 1.0 * /move_base/global_costmap/update_frequency: 3.0 * /move_base/local_costmap/footprint: [[0.2, 0.2], [0.2... * /move_base/local_costmap/global_frame: /odom * /move_base/local_costmap/height: 6.0 * /move_base/local_costmap/inflation_radius: 0.1 * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/max_obstacle_height: 0.6 * /move_base/local_costmap/min_obstacle_height: 0.0 * /move_base/local_costmap/observation_sources: scan * /move_base/local_costmap/obstacle_range: 2.5 * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/raytrace_range: 3.0 * /move_base/local_costmap/resolution: 0.07556 * /move_base/local_costmap/robot_base_frame: /base_link * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/scan/clearing: True * /move_base/local_costmap/scan/data_type: LaserScan * /move_base/local_costmap/scan/expected_update_rate: 0 * /move_base/local_costmap/scan/marking: True * /move_base/local_costmap/scan/topic: /scan * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 1.0 * /move_base/local_costmap/update_frequency: 3.0 * /move_base/local_costmap/width: 6.0 * /move_base/recovery_behavior_enabled: False * /robot_description: