Navigation: oscilation on local planner

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Dear community,

I am working on a mobile robot (differential drive), using a Hokuyo Laser Range Finder and the navigation stack (ROS Groovy on Ubuntu 12.04) for autonomous navigation.

I have calibrated the odometry of the robot and I can get a fairly good map of the environment using gmapping. Once the map is saved, I can joystick the robot around and it stays well localized on the map.

Then I use Rviz to send a navigation goal to the robot, the global planner does its job and generates a global path, the robot starts to move and eventually it reaches its goal, but it does so with something that can only be described as "flair" (and a lot of it!!)

I have read carefully all the documentation on navigation and especially the guide on tuning the robot for navigation.

I suspect that the problem might be in the configuration parameters of the local planner (maybe the acceleration and speed limits, but I am using the values that are supposed to be appropriate from my robot) and managed to get a navigation behaviour a bit less "flairly" by reducing the width and height of the local planner, from the default 6 meters, to 1 meter. But still, the robot oscillates around the global path.

You can see this video

Is there any way to solve this? As I mentioned, I read all the documentation from head to tail and still can figure it out. Posting this question is my last resort, so I would deeply appreciate any advice or answers.

Thank you so much in advance.

[For the sake of completeness here goes the launch and configuration files for navigation]

<launch>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <remap from="cmd_vel" to="base_controller/command"/>
    <rosparam file="$(find beego)/config/LRF/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find beego)/config/LRF/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find beego)/config/LRF/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find beego)/config/LRF/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find beego)/config/LRF/move_base_params.yaml" command="load" />
  </node>


</launch>

costmap_common_params.yaml

obstacle_range: 3.5
raytrace_range: 4.0
footprint: [[-0.25, -0.25], [-0.25, 0.25], [0.25, 0.25], [0.35, 0.0], [0.25, -0.25]]
inflation_radius: 0.65

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 10.0}

local_costmap_params.yaml

local_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 1.0
  height: 1.0
  resolution: 0.05

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.5
  static_map: true
  width: 0.0
  height: 0.0

move_base_params.yaml

controller_frequency: 10
controller_patience: 15.0
oscillation_timeout: 10.0
oscillation_distance: 0.5

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 1.0
  acc_lim_x: 0.5
  acc_lim_y: 0.5
  path_distance_bias: 50.0
  goal_distance_bias: 0.8
  holonomic_robot: false