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Hi there,it seems your vehicle is an non-holonomic model. I am too working on a similar project.

Navigation stack is based on holonomic and differential drive vehicle. To use it in a ackermann style robot,you need to make lot of changes in the local planner.Plus there is also need to choose the right kind of motion primitives(which is part of sbpl global planner). I would like to know about the hardware configuration of your robot.

Also please have a read: http://answers.ros.org/question/40447/implementing-slam-on-a-car-like-robot-using-the/