Unable to use move_base trajectory planner sending goal by code

Hi all, I apply move_base tutorial to a Pioneer 3DX robot for a university project. My project create a costmap, search object into the scene and set goal that the robot have to reach. My problem is the follow: when I set the goal by code, local planner doesn't work. Topic /move_base/NavfnROS/plan publish empty messages, while /move_base_simple/goal is set correctly. But, if I set goal pose with Rviz (with 2D Nav Goal button), all is working properly. Anyone know what I do wrong? Here my configuration file for move_base: ... and here the way to publish goal by code: ... goal_pub_ = nh_.advertise(goal_topic, rate); geometry_msgs::PoseStamped goal; goal.header.stamp = ros::Time::now(); goal.header.frame_id = "/map"; goal.pose.position.x = object_centroid[0]+object_max[0]-object_min[0]+distanceFromObjectX; goal.pose.position.y = object_centroid[1]; goal.pose.position.z = object_centroid[2]; goal.pose.orientation.x = 0.0; goal.pose.orientation.y = 0.0; goal.pose.orientation.z = 1.0; goal.pose.orientation.w = 0.0; goal_pub_.publish(goal); Thanks