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For (1) you can use either local planner (DWA or Trajectory Rollout) -- but you will almost certainly have to tune it for your robot. If you haven't supplied velocity and acceleration limits for your local planner, you will likely not get good results. See the Local Planner section of the Basic Navigation Tuning Tutorial for a list of things you probably want to tune.
For (2), you might have to come up with new motion primitives -- I'm not sure if the default ones include turning in place. I would certainly visualize the local and global plans in RVIZ though to be sure of which planner is actually not getting you to your goal.
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