First of all I'm going to let you guys know I'm new to ROS and gazebo. And I have been playing around with it for a few weeks now doing tutorials and my own experiments. And I finally have a working robot, except...

My problem is that I haven't found any proper way to raise the maximum speed of my robot when it is using move base navigation. If I manually control the robot I can make it go according to whatever speed I want, but when I issue it a location to go to in RViz I can't get it to go over 4 m/s. And I have raised all the velocity, acceleration limits that I could find (planner, control config) to ridiculous values all together and one by one in order to try to get it to go beyond the 4 m/s with navigation. I have also tweaked the simtime, vxsample, pdistscale and gdistscale values around to no avail.

My robot has 3 wheels, so it's using differential drive and the third wheel is just a free moving caster wheel. And I'm using Ubuntu 14.04 with ros Indigo. For the planner I'm currently using the DWA planner and I have tried to use the trajectory one as well. My main reference besides the tutorials for the robot has been Husky.

Here is my control.yaml:

 testi:
    joint_state_controller:
        type: "joint_state_controller/JointStateController"
        publish_rate: 50

    gmi_drive:
      type: "diff_drive_controller/DiffDriveController"
      publish_rate: 50

      left_wheel: 'base_to_WheelL'
      right_wheel: 'base_to_WheelR'

      wheel_separation: 0.9
      wheel_radius: 0.26

      enable_odom_tf: false

      pose_covariance_diagonal: [0.001, 0.001, 1.0, 1.0, 1.0, 1.0]
      twist_covariance_diagonal: [0.001, 0.001, 1.0, 1.0, 1.0, 1.0]

      base_frame_id: base_link

      linear:
        x:
          has_velocity_limits    : true
          max_velocity           : 75.0   # m/s
          has_acceleration_limits: true
          max_acceleration       : 5.0   # m/s^2
      angular:
        z:
          has_velocity_limits    : true
          max_velocity           : 5.0   # rad/s
          has_acceleration_limits: true
          max_acceleration       : 1.5   # rad/s^2

And here is my planner.yaml:

controller_frequency: 5.0
recovery_behaviour_enabled: true

NavfnROS:
  default_tolerance: 0.1 

TrajectoryPlannerROS:
  # Robot Configuration Parameters
  acc_lim_x: 25.0
  acc_lim_theta:  32.0

  max_vel_x: 55.0
  min_vel_x: 0.0

  max_vel_theta: 10.0
  min_vel_theta: -10.0
  min_in_place_vel_theta: 0.2

  holonomic_robot: false
  escape_vel: -0.5

  yaw_goal_tolerance: 6.0
  xy_goal_tolerance: 0.8
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 4.0
  sim_granularity: 0.02
  angular_sim_granularity: 0.02
  vx_samples: 10
  vtheta_samples: 20
  controller_frequency: 20.0

  # Trajectory scoring parameters
  meter_scoring: true 
  occdist_scale:  0.1  
  pdist_scale: 0.8
  gdist_scale: 1.0

  heading_lookahead: 0.325  
  heading_scoring: false  
  heading_scoring_timestep: 0.8   
  dwa: true 
  simple_attractor: false
  publish_cost_grid_pc: true  

  oscillation_reset_dist: 0.25 
  escape_reset_dist: 0.1
  escape_reset_theta: 0.1

DWAPlannerROS:

  # Robot configuration parameters  
  acc_lim_x: 25.0
  acc_lim_y: 2.5
  acc_lim_th: 32.0

  max_vel_x: 55.0 
  min_vel_x: 0.1 
  max_vel_y: 0.0
  min_vel_y: -0.0

  max_trans_vel: 75.0
  min_trans_vel: 0.1 
  max_rot_vel: 5.0
  min_rot_vel: 0.4 

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 6.0
  xy_goal_tolerance: 0.8
  latch_xy_goal_tolerance: false

All help is much appriciated

I also have no idea why the code blocks aren't working correctly.

DWAPlannerROS:
  odom_topic: /NaviBOT/controller/base_controller/odom
  ...