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I think you have set holonimic_robot: true in

RobotSetup#Base_Local_Planner_Configuration

which isn't true. If it's not holonomic the local planner shouldn't set y-velocities.

I think you have set holonimic_robot: true in RobotSetup#Base_Local_Planner_Configuration which isn't true.

~~RobotSetup#Base_Local_Planner_Configuration~~

which isn't true. If it's not holonomic the local planner shouldn't set y-velocities.

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