I'm trying to implement the nav2d autonomous mapping with my turtlebot2 using [this](http://wiki.ros.org/nav2d/Tutorials/MultiMapper) tutorial but I am having issues with my navigator node. So far, I am able to run the rosservice call /StartMapping 3 successfully and an initial map is generated. But when I run rosservice call /StartExploration 2, nothing happens and I receive no errors. I think this is a problem with the navigator node because I am unable to set a nav goal using rviz's nav goal tool.
EDIT:
Using the rqt_console while running the services I get "Navigator is now initialized" when I run /StartMapping 3 and when I run /StartExploration 2 it says "Exploration has finished" even though the robot doesn't move at all.
Here is my rqt_graph:
[rqt_graph](https://drive.google.com/file/d/0ByyAP6RE2iT-bzFmbzRSbl95ZGM/view?usp=sharing)
Here is my customized tutorial3 launch file:
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