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Short answer (if this is wrong, I'd be happy to get corrected ;-) ):

You cannot achieve a plan as shown in your 3rd picture using DWA.

DWA (at least not the ROS implementation) is just not set up for this. It works best for round or square robots with the center in the middle. With your robot, you would need something which is similar to a planner for a car-like robot.

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