Robot can't reach goal and keep rotate endless

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Hi all,

I have some trouble implementing the navigation stack for one omnidirectional robot. The transfornation -and Odom publisher are done and work fine. I have read Navigation Tutorial and i have adjusted my files so that the application could operate without a static map. So when I launched my files and start sending a goal, the robot rotate endless.

Has anyone an idea about this issue? Here ist my setup for the navigation Stack:

Base local planner:

  TrajectoryPlannerROS:
  max_vel_x: 50
  min_vel_x: 10
  max_rotational_vel: 0.1
  min_in_place_rotational_vel: 0.1

  acc_lim_theta: 0.6
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: true

  meter_scoring: true

Coastmap common:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [ [0.37, 0.33], [-0.37, 0.33], [-0.37, -0.33], [0.37, -0.33] ]
#footprint_padding: 0.01
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: /base_laser_front_link, data_type: LaserScan, topic: scan_front, marking: true, clearing: true}

Global coastmap:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 0.4
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.005
  origin_x: -1.5
  origin_y: -1.5

Local coastmap:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 0.4
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.01
  origin_x: -1.5
  origin_y: -1.5

Move base:

<launch>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" >
        <remap from="scan" to="scan_front" />
        <param name="map_update_interval" value="0.2" />
</node>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> 
    <param name="controller_frequency" value="0.8"/>
    <rosparam file="$(find miagy_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find miagy_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find miagy_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find miagy_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find miagy_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

Source file to send a goal:

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

int main(int argc, char** argv){
  ros::init(argc, argv, "simple_navigation_goals");

  //tell the action client that we want to spin a thread by default
  MoveBaseClient ac("move_base", true);

  //wait for the action server to come up
  while(!ac.waitForServer(ros::Duration(5.0))){
    ROS_INFO("Waiting for the move_base action server to come up");
  }

  move_base_msgs::MoveBaseGoal goal;

  //we'll send a goal to the robot to move 1 meter forward
  goal.target_pose.header.frame_id = "base_link";
  goal.target_pose.header.stamp = ros::Time::now();

  goal.target_pose.pose.position.x = 1.0;
  goal.target_pose.pose.orientation.w = 1.0;

  ROS_INFO("Sending goal");
  ac.sendGoal(goal);

  ac.waitForResult();

  if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    ROS_INFO("Hooray, the base moved 1 meter forward");
  else
    ROS_INFO("The base failed to move forward 1 meter for some reason");

  return 0;
}

Any help will be appreciate. Thanks