We have a non-holonomic robot at our lab and I've been trying to make it move safely.

With the TrajectoryPlannerROS (with use_dwa enabled) it works, but I really like the modularity of DWAPlannerROS. So I tried this planner and to my surprise, the robot crashed almost every time using the same parameters at with the TrajectoryPlannerROS.

For what I can see, DWAPlanner is a cleaner version of TrajectoryPlanner, and should basically create the same behaviours. So what could be the problem?