Update: If I increase the xygoaltolerance: parameter from .25 to .4 then this behavior stops and the robot stops moving on reaching the goal. Any idea why this is?

I am running gmapping with ekl combined odom sourcing from Gazebo with a laser, GPS, and wheel odometry. I do not publish base-link tf but use the basefootprint tf from ekl. When I set my goal in rviz it follows the goal trajectory ,avoids all obstacles, but upon reaching the goal jumps backward about a meter along the global goal trajectory. Then moves forward and repeats this action every time it reaches the goal. The grid and goal marker in rviz do not change position only the basefootprint and cost footprint jump back. The laser cost do track forward but not the grid or goal marker or prior laser cost. In Gazebo the robot moves past the goal. Any thoughts on the cause of this behavior.