Over in navigation2 we're talking about the topic to use for the topic-based navigation. Right now we use the move_base_simple/goal topic, but that's obviously not really awesome considering move_base is gone. ros-navigation/navigation2#1021

We propose changing that topic to goal_pose and updating the button name appropriately. I think that makes it good for navigation as well as more "generalized" for non-nav tasks.

If you guys are OK with that change, I'll submit a PR here for those updates.