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@michikarg today the robot should move a straight path and followed it (with the accurcy I told him) and afterwards he should drive an other path (shown in the screenshot) 
The green path is the global path. The yellow obstacles are the inflated obstacles by the local planner. The robot moved a bit from its starting position to where the footprint is in the picture and then performed this recovery behavior... My inflation radius is set pretty low (0.30) in the costmap_common_params.yaml and in the base_local_planner_params.yaml dwa is set to true.
And the link you posted does not exist ;)
But thanks untill here!
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