Robot moves forward only

edit

Hi everyone,

Robot goes into narrow place but it can't go back to first position. It is trying to escape with moving a bit backward (then forward) infinitely at corridor's end. How can I make it escape all the way backwards? My Local Planner : base_local_planner/TrajectoryPlannerROS Gmapping's Hokuyo Laser is in the front of robot. And There is a small rplidar on the robot's rear for avoiding obstacles:

obstacle_layer:
     observation_sources: rplidar_back_scan scan
     rplidar_back_scan: {data_type: LaserScan, sensor_frame: /base_lidar_back_link, clearing: true, marking: true, topic: /rplidar_back_scan}
     scan: {data_type: LaserScan, sensor_frame: /base_laser_link, clearing: true, marking: true, topic: /scan}

Here is Rviz screenshot:

Thank you.

EDIT1: Am I need to merge lasers? (And how to merge?) move_base updating costmap with all laser's scans but Gmapping uses only front laser.

EDIT2: I've set escape_vel to 0.0. Now robot just stopping at the corridor's end.