DWB local planner footprint configuration

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Hi everyone,

I have some issues while trying to use DWB local planner. I'm using it with move_base using this answer.

But when I start the navigation, I get these errors:

[ WARN] [1464825005.450915057]: Critic "ObstacleFootprint" failed to prepare
[ERROR] [1464825005.457386149]: computeVelocityCommands exception: No valid trajectories out of 63! 
[ERROR] [1464825005.550973984]: Footprint spec is empty, maybe missing call to setFootprint?

I've tried to add in my "base_local_planner_params.yaml" file the "ObstacleFootprint" parameter :

  critics:
     ObstacleFootprint: [[-0.3, 0.45], [0.97, 0.45], [0.97, -0.45], [-0.3,-0.45]]

But now, my robot goes around in circles with no errors instead of moving towards the destination...

Thanks for your help!