Problem with local planner using navigation stack

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Hello guys,

I am trying to run my robot with navigation stack. It is a four track differential robot as it is shown in the picture below. I am using gmapping instead of amcl so I will discover and update the map as I go along.

I followed all the step in navigation stack tutorial and my mapping and localization seem to work fine.

However, there are some issues:

1- under local_costmap topic I have neither obstacles nor inflated obstacles. instead I have this:

2- when I send a goal to navigation stack the global path is fine, but strange curly local path is being created and the robot as a result wanders around the global path. Please take a look at this video that I recorded of my screen.

I am considering everything 2D so in the TF tree (base_link - base_laser) I ignore height of the my laser scanner. Here is my parameters:

cost_map common parameters
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.5, -0.45], [-0.5, -0.45], [-0.5, 0.45], [0.5, 0.45], [0.6, 0.0]]
#robot_radius: ir_of_robot
inflation_radius: 0.1

observation_sources: SICK

SICK: {sensor_frame: base_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 3
  static_map: true
  map_type: costmap

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  map_type: costmap

TrajectoryPlannerROS:
  max_vel_x: 0.25
  min_vel_x: 0.1
  max_vel_theta: 0.5
  min_in_place_vel_theta: 0.2

  acc_lim_theta: 1.2
  acc_lim_x: 1.5
  acc_lim_y: 1.5

  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.09
  holonomic_robot: false

  meter_scoring: true
  sim_time: 0.5
  sim_granularity: 0.025
  angular_sim_granularity: 0.025
  vx_samples: 3
  vtheta_samples: 20

Any ideas how to solve the problem?

Thank you very much in advance :)