Which topic should I publish path to?

edit

Hi guys, I am trying to implement a global path planner to Turtlebot 2 using ROS navigation. Now I can get the initial position, goal position and map data these three for path planning. And I am trying to verify my output. I wrote a simple TALKER to send path to topic /move_base/TrajectoryPlannerROS/global_plan.

int main(int argc, char **argv)
{
  ros::init(argc, argv, "talker");

  ros::NodeHandle p;
  ros::Publisher path_pub = p.advertise<nav_msgs::Path>("move_base/TrajectoryPlannerROS/global_plan", 1000);
  ros::Rate loop_rate(1);

  nav_msgs::Path gui_path;
  geometry_msgs::PoseStamped pose;
  std::vector<geometry_msgs::PoseStamped> plan;
for (int i=0; i<5; i++){
      pose.pose.position.x = i;
      pose.pose.position.y = -i;
      pose.pose.position.z = 0.0;
      pose.pose.orientation.x = 0.0;
      pose.pose.orientation.y = 0.0;
      pose.pose.orientation.z = 0.0;
      pose.pose.orientation.w = 1.0;
      plan.push_back(pose);
    }

gui_path.poses.resize(plan.size());

if(!plan.empty()){
      gui_path.header.frame_id = 'map';
      gui_path.header.stamp = plan[0].header.stamp;
}

for(unsigned int i=0; i < plan.size(); i++){
      gui_path.poses[i] = plan[i];
}

while (1){
  path_pub.publish(gui_path);
  ros::spinOnce();
  loop_rate.sleep();
}
  return 0;
}

I can rostopic echo move_base/TrajectoryPlannerROS/global_plan and get path like this:

header: 
  seq: 10
  stamp: 
    secs: 0
    nsecs: 0
  frame_id: ''
poses: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs: 0
      frame_id: ''
    pose: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
  - 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs: 0
      frame_id: ''
    pose: 
      position: 
        x: 1.0
        y: -1.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

But the robot in Rviz is not moving. Is my method wrong? Which topic should I use?