wrong robot orientation at the goal

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Hi all,

You must have seen lot of posts saying that robot keeps on rotating when it is near the goal but I have an opposite problem. In my case, when the robot reaches the goal within xy_goal_tolerance, it turns slowly to correct its orientation but then it stops outside the yaw_goal_tolerance at the goal. When I did rostopic echo /cmd_vel, the angular velocity (angular.z) is getting published (0.5 in my case) but the robot is not rotating. I am using wheel_encoders for odometry, amcl for localization and move_base for navigation with local planner as TrajectoryPlanner. I am not able to figure out what is causing such a behavior. Has anyone encountered such an issue before?

Update: When I did rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.5]', robot did not rotate but when I changed 0.5 to 1, robot started to rotate. Then, I changed min_in_place_vel_theta = 1.0 in base_local_planner_params.yaml but still angular.z from rostopic echo/cmd_vel is 0.5 and the robot is not able to rotate and ends up in a wrong orientation at the goal. Any idea why is this happening? Do I need to change any other parameter?

base_local_planner_params.yaml

#For full documentation of the parameters in this file, and a list of all the
#parameters available for TrajectoryPlannerROS, please see
#http://www.ros.org/wiki/base_local_planner
TrajectoryPlannerROS:
  #Set the acceleration limits of the robot
  acc_lim_th: 2.5 
  acc_lim_x: 2.0
  acc_lim_y: 0

  #Set the velocity limits of the robot
  max_vel_x: 1.0
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_vel_theta: -1.0
  min_in_place_vel_theta: 0.5

  #The velocity the robot will command when trying to escape from a stuck situation
  escape_vel: -0.1

  #For this example, we'll use a holonomic robot
  holonomic_robot: false

  #Set the tolerance on achieving a goal
  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.2
  latch_xy_goal_tolerance: false

  #We'll configure how long and with what granularity we'll forward simulate trajectories
  sim_time: 1.5
  sim_granularity: 0.025
  angular_sim_granularity: 0.025
  vx_samples: 8
  vtheta_samples: 20

  #Parameters for scoring trajectories
  goal_distance_bias: 0.8
  path_distance_bias: 1.0
  gdist_scale: 0.8
  pdist_scale: 1.0
  occdist_scale: 0.01
  heading_lookahead: 0.325

  #We'll use the Dynamic Window Approach to control instead of Trajectory Rollout for this example
  dwa: false

  #How far the robot must travel before oscillation flags are reset
  oscillation_reset_dist: 0.05

  #Eat up the plan as the robot moves along it
  prune_plan: false

  # Global Frame id
  global_frame_id: odom_combined

Thanks in advance.
Naman Kumar