unable to find goal using ros-navigation

edit

hi, i want to navigate P3AT (in USARSim @windows PC1) from ROS (Fuerte @UBUNTU PC2). i am using ros navigation stack for auto navigation.

but after setting goal in rviz, robot just roam around left - right and start moving to random location.

here are the files you may want to look,

base_local_planner_params.yaml

TrajectoryPlannerROS:
  # for details see: http://www.ros.org/wiki/base_local_planner
  max_vel_x: 0.2
  min_vel_x: 0.05
  max_rotational_vel: 0.5
  min_in_place_rotational_vel: 0.1

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 0

  holonomic_robot: true

  # goal tolerance parameters
  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: true

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.305, 0.278], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.305, -0.278]]
#footprint: [[0.075, 0.178], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.075, -0.178]]
#robot_radius: ir_of_robot
inflation_radius: 0.6

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: openni_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  static_map: true

move_base_params.yaml

controller_frequency: 10
controller_patience: 15.0
oscillation_timeout: 10.0
oscillation_distance: 0.5

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 1.0
  acc_lim_x: 0.5
  acc_lim_y: 0.5
  path_distance_bias: 50.0
  goal_distance_bias: 0.8
  holonomic_robot: false

local_costmap_params.yaml

local_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  # origin_x: -0.115
  origin_x: 7.5
  origin_y: 7.5
  resolution: 0.05

move_base.launch

<launch>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.pgm 0.05"/>

  <!--- You can see original move_base.launch -->
  <!--- Run AMCL -->
  rosparam set use_sim_time true
  <include file="$(find usarsim_inf)/launch/usarsim.launch"/>
  <include file="$(find amcl)/examples/amcl_omni.launch" />



  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/move_base_params.yaml" command="load" />
  </node>


  <node pkg="gmapping" type="slam_gmapping" respawn="false" name="slam_gmapping" args="scan:=lms200" >
  </node>

  <node pkg="rviz" type="rviz" respawn="false" name="rviz">
  </node>
</launch>