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Actually in the Kobuki base model they included a multiplexer to receive & prioritise inputs from different sources, so this is not (wasn't) the problem. problem was that controller_frequency: parameter was set too low! - i'll test different situations to make sure and mark as Q as answered. THNX!

Actually in the Kobuki base model they included a multiplexer to receive & prioritise inputs from different sources, so this is not (wasn't) the problem. problem was that controller_frequency: parameter was set too low! - i'll test different situations wasn't right and also a very big X,Y size (meters) for Costmap Local and Global maps in the move_base setting could cause this jerky behaviour. just lower the size to make sure a reasonable amount and mark as Q as answered. THNX!it works smooth. (100 x 100; lowered to 40x40 and its all good).