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Hi All,
The problem was that I was using TrajectoryPlannerROS instead of DWALocalPlannerROS. I changed the heading TrajectoryPlannerROS to DWALocalPlannerROS in base_local_planner_params.yaml and added
base_local_planner: dwa_local_planner/DWAPlannerROS
to my move_base_params.yaml.
This completely changed the behaviour of the robot. Now it's avoiding obstacles very smoothly and not having the strange problems as before. Although I think my footprint and inflation radius still needs some optimising, it's working much better!