Inquiry of efficacy of package for unexplored environments. about mbf_tutorials

[PhilipAmadasun]

I made changes to the server:

import actionlib
import rospy
import mbf_msgs.msg as mbf_msgs
import move_base_msgs.msg as mb_msgs
from geometry_msgs.msg import PoseStamped
import tf

robotpose = PoseStamped()

def mb_execute_cb(msg):
    mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg.target_pose),
                        feedback_cb=mbf_feedback_cb)

    rospy.logdebug("Relaying move_base goal to mbf")
    mbf_mb_ac.wait_for_result()

    status = mbf_mb_ac.get_state()
    result = mbf_mb_ac.get_result()

    rospy.logdebug("MBF execution completed with result [%d]: %s", result.outcome, result.message)
    if result.outcome == mbf_msgs.MoveBaseResult.SUCCESS:
        mb_as.set_succeeded(mb_msgs.MoveBaseResult(), "Goal reached.")
    else:
        mb_as.set_aborted(mb_msgs.MoveBaseResult(), result.message)

def mbf_feedback_cb():
    listener = tf.TransformListener()
    listener.waitForTransform('map', 'base_footprint', rospy.Time(0), rospy.Duration(50))
    (trans, rot) = listener.lookupTransform('map', 'base_footprint', rospy.Time(0))
    robotpose.header.stamp = rospy.get_rostime()
    robotpose.header.frame_id = 'map'
    robotpose.pose.position.x = trans[0]
    robotpose.pose.position.y = trans[1]
    robotpose.pose.position.z = trans[2]
    robotpose.pose.orientation.x = rot[0]
    robotpose.pose.orientation.y = rot[1]
    robotpose.pose.orientation.z = rot[2]
    robotpose.pose.orientation.w = rot[3]
    print("hell")
    
    mb_as.publish_feedback(mb_msgs.MoveBaseFeedback(base_position=robotpose))

if __name__ == '__main__':
    rospy.init_node("move_base")

    # move_base_flex get_path and move_base action clients
    mbf_mb_ac = actionlib.SimpleActionClient("move_base_flex/move_base", mbf_msgs.MoveBaseAction)
    mbf_mb_ac.wait_for_server(rospy.Duration(10))

    mb_as = actionlib.SimpleActionServer('move_base', mb_msgs.MoveBaseAction, mb_execute_cb, auto_start=False)
    mb_as.start()

    rospy.spin()

But I get an error of Map data not being received. Would you happen to know what any of the possible issues could be?