@tony_rob, the Failed to reach forward motion goal printout is actually the important error here. It indicates the mobile base attempted to achieve a certain amount of forward translation multiple times, but failed to achieve it. It’s a bug that I’ve personally experienced when the base is translating on carpet or other flooring where the wheels can slip.
Let me know if you’d like help figuring out this bug; I’d be happy to dig deeper. If you feel comfortable with the FUNMAP codebase, I’d recommend adding the forward translation goal to the error printout, and then attempt to command the same goal using Stretch Body, because with the Python API, you have access to the trace toolkit which can help you debug by showing you what the robot is seeing.