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I'm not really certain what you mean by:
removing the client server and implementing a "manual" routine, which sends the goals comparing the actual and planned position
It sounds like you might be somehow trying to use the navigation stack for 3d navigation
sendGoalAsPoint( next_goal_ ); // ...since this one goes directly to the driver to calculate height and orientation
In which case I'd definitely recommend using MoveIt instead.
Assuming your client code is operating correctly:
First thing could be to set the xy_goal_tolerance and yaw_tolerance to something ridiculous like 1m and 3.14 rads respectively, and see if the goal still never succeeds.
To debug the problem further, I would clone a local copy of the navigation stack into your workspace, and add some handy debug messages in the helper functions that determine whether xy_goal_tolerance and yaw_tolerance are achieved.
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