I am currently working on the waypoint following of Turtlebot 2 in Gazebo. I am running Ubuntu 14.04 LTS with kernel 4.4.0-135-generic and ROS indigo 1.11.21. The simulated Turtlebot, instead of moving directly, it rotates toward the goal and eventually, it will reach the desired goal. I followed some advice to change the parameter such as simtim and goaltolerance in dwalocalplanner_params.yaml but it does not affect the result. May I know why does the rotation happen and is there any other approach to make a smoother trajectory? Thank you.

I used the python code in the following link, http://www.hotblackrobotics.com/en/blog/2018/01/29/seq-goals-py/ with this launch file, https://github.com/FiorellaSibona/turtlebot3_nav/blob/devel/catkin_ws/src/simple_navigation_goals/launch/movebase_seq.launch.

The following is the steps of launching the code: roslaunch turtlebotgazebo turtlebotworld.launch -> roslaunch turtlebotgazebo amcldemo.launch -> roslaunch turtlebotrvizlaunchers viewnavigation.launch -> roslaunch simplenavigationgoals movebaseseq.launch