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I have found a solution. The problem was the wrong odometry data. My robot gives the correct odometry position in the odom frame but calculates the velocitys for linear.x and linear.y with two timed poses ( new.x - old.x / dt and new.y - old.y / dt).

Because i don't know how to get the Ticks of the encoders, i just hardcoded the y-velocity to 0 and tested the planner once more. The planner works now fine! No /cmd/linear/y values and the movement of the robot has improved!

I don't know why, but if the DWA Planner receives velocity values in y direction, it will also send /cmd_vel commands in y direction.

Now i only have to correct the calculation of the odometry velocity and i think the movement will improve once more.