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firstly, decrease sim_time.

4 sec is too high for your environment. DWA will plan an arc path, so a 4-sec arc is not easy to fit in the free space.

Sim_time should be higher for clean environment like a hallway, you could plan for 4 sec.

In a crowded environment, sim_time should be much lower, maybe 1 sec.

Other params can be fine-tuned later.

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