I am using move_base with a large robot (2mx1m), diff drive configuration. When I send the robot a goal, it will reach the goal, but it appears it never gets within the goal tolerance, just barely outside of it.

I have increased minimum x and theta velocities, in place velocities, and even modified my motor controller driver to set a minimum power sent to each motor in case the /cmdvel message is too small. None of these solutions worked. Thanks!

TrajectoryPlannerROS:
  max_vel_x: 1.3
  min_vel_x: 0.65
  max_vel_theta: 0.8
  min_vel_theta: -0.8
  min_in_place_vel_theta: 0.6
  escape_vel: -0.55
  acc_lim_theta: 0.6
  acc_lim_x: 0.3
  acc_lim_Y: 0.5

  holonomic_robot: false
  meter_scoring: true

  xy_goal_tolerance: 0.8
  yaw_goal_tolerance: 1.0
  latch_xy_goal_tolerance: false

  sim_time: 1.9
  sim_granularity: 0.025
  angular_sim_granularity: 0.02
  vx_samples: 3  # how many samples of x velocity are taken for simulated trajectories
  vtheta_samples: 20 # how many samples of theta velocity are taken for simulated trajectories
  #controller_frequency: 1.0  # how often the planning algorithm is performed (hz)


  pdist_scale: 0.6  #     The weighting for how much the controller should stay close to the path it was given . default 0.6
  gdist_scale: 0.8 #     The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8\

  #goal_distance_bias: 24.0
  #path_distance_bias: 35.0
  occdist_scale: 0.01
  heading_lookahead: 0.35
  heading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default false
  heading_scoring_timestep: 0.8   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
  dwa: false

  oscillation_reset_dist: 0.25
  meter_scoring: true

    # Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
  escape_reset_dist: 0.5
  escape_reset_theta: 0.1