Hi, I am on Ubuntu 14.04 ROS indigo, SLAM gmapping, real robot ROBULAB 10 I am having troubles with baselocalplanner! Using movebase package, and I am giving a 2Dgoal in RVIZ, when the robot is close to obstacles the local planner can't generate the local path in order to follow the global one. However, my robot is not holonomic and it can rotate in place or move back to be fare from obstacles (I set mininplaceveltheta: 1.4). Now I am not sure if I am doing some mistakes somewhere in my config. files or the /movebase/baselocalplanner (which is set to : baselocalplanner/TrajectoryPlannerROS) is not able to generate a rotation or move back in order to be able to generate a safe local path? My configurations for the launch file, common, local, global cost maps and trajectory generation and two images (local cost map on the left and global cost map on the right) are bellow Any help will be well appreciated !

=======================[ LAUNCH FILE ]====================

   <arg name="sensor_range" default="2.0"/>
   <arg name="use_sim_time" default="false" />
   <param name="/use_sim_time" value="$(arg use_sim_time)"/>
   <arg name="show_rviz" default="true" />
  <arg name="map_size" default="202"/>
  <arg name="bringup_robulab" default="true"/>
  <include file="$(find robulab)/launch/bringup.launch" if="$(arg bringup_robulab)"/>
  <include file="$(find robulab)/launch/gmapping.launch">
    <arg name="bringup_robulab" value="false"/>  
    <arg name="show_rviz" value="false"/>  
  </include>
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find robulab)/rviz_cfg/exploration.rviz" if="$(arg show_rviz)"/>
  <node pkg="move_base" type="move_base" respawn="true" name="move_base" >
    <param name="controller_frequency" value="20"/>
    <param name="planner_frequency" value="20"/>
    <param name="global_planner" value="BaseGlobalPlanner"/>
    <remap from="base_scan" to="scan"/>
    <remap from="cmd_vel" to="command_velocity"/>
    <rosparam file="$(find robulab)/yaml/costmap_common_robulab.yaml" command="load" ns="global_costmap"/> 
    <rosparam file="$(find robulab)/yaml/global_costmap.yaml" command="load" />  
    <rosparam file="$(find robulab)/yaml/costmap_common_robulab.yaml" command="load" ns="local_costmap"/> 
    <rosparam file="$(find robulab)/yaml/local_costmap.yaml" command="load" />
    <rosparam file="$(find robulab)/yaml/trajectory_planner_robulab.yaml" command="load"/>
    <!-- rosparam name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> 
    <rosparam file="$(find robulab)/yaml/dwa_loca_planner_robulab.yaml" command="load"/ --> 
  </node>

=======================[ COST MAP COMMON ]====================

map_type: costma

/# Map management parameters

unknowncostvalue: 255

mininplaceveltheta: 2.0

/# Sensor management parameters

observationsources: basescan

basescan: {sensorframe: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

=======================[ COST MAP LOCAL ]====================

local_costmap:

map_type: costmap

global_frame: /map

robotbaseframe: base_link

update_frequency: 5.0

publish_frequency: 2.0

static_map: false

rolling_window: true

width: 6.0

height: 6.0

origin_x: 0.0

origin_y: 0.0

inflation_radius: 0.35

=======================[ COST MAP GLOBAL ]====================

global_costmap:

global_frame: /map

robotbaseframe: base_link

update_frequency: 5.0

publish_frequency: 2.0

raytrace_range: 3.0

obstacle_range: 2.5

static_map: true

rolling_window: false

#inflation_radius: 1.8

inflation_radius: 2.0

=======================[ TRAJECTORY PLANNER ]====================

TrajectoryPlannerROS:

/#Robot Configuration Parameters

maxvelx: 0.305

backupvel: -0.2

acclimx: 0.2

maxveltheta: 0.65

minveltheta: -0.65

mininplaceveltheta: 1.4

holonomic_robot: false

/#Goal Tolerance Parameters

/#Trajectory Scoring Parameters

occdist_scale: 0.02

publishcostgrid_pc: true

heading_lookahead: 0.2

vtheta_samples: 150