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Hi all, I think the big and arbitrary number of calls to global planner is caused by a bug in move_base.cpp

I pull requested a fix. I would really apreciate if you can give it a try, as move_base.cpp code is quite chaotic and I'm afraid of having broked something else.

Btw, the number of calls to global planner is:

1+max_planning_retries + number_of_recovery_behavior*(1+max_planning_retries)

because max_planning_retries is the times to retry, after a first attempt we always do (so 0 means not retry, just 1 attempt)

Hope this helps!