Robot doesn't Follow its path and particle cloud spreads out

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Hi Everyone,

Has anyone had an experience with the robot following the path and going off it from time to time? It causes my robot to run into the walls and Im struggling with finding the solution to this problem. I should also mention that the robot doesn't see the obstacles and I don't know how to go out this.

Kind regards, Maciej

With the reply to the comment I am posting all my config files below, if code is needed, this will be provided too.

Launch file:

    <launch>

 <node pkg="amcl" type="amcl" name="amcl" output="screen">

  <param name="base_frame" value = "base_link"/>
  <param name="fixed_frame" value = "map"/>
  <param name="use_cloud_input" value="true"/>
  <param name="use_laser_input" value="true"/>
  <param name="publish_tf" value="true"/>
  <param name="publish_odom" value="true"/>
  <param name="use_odom" value="false"/>
  <param name="use_imu" value="false"/>
  <param name="use_alpha_beta" value="true"/>
  <param name="max_iterations" value="10"/>

</node>

<node name="map_server" pkg="map_server" type="map_server" args="/home/maciejm/catkin_ws/src/map1.yaml"/>


  <node pkg="my_sensor" type="my_sensor" name="my_sensor" output="screen">
    <param name="sensor_param" value="param_value" />
  </node>

  <node pkg="my_sensor" type="laser_cloud" name="laser_cloud" output="screen">
    <param name="sensor_param" value="param_value" />
  </node>

  <node pkg="robot_setup_tf" type="my_odom" name="my_odom" output="screen">
    <param name="odom_param" value="param_value" />
  </node>

  <node pkg="robot_setup_tf" type="tf_broadcaster" name="broadcaster" output="screen">
    <param name="broadcaster" value="param_value" />
  </node>

  <node pkg="robot_setup_tf" type="tf_listener" name="listener" output="screen">
    <param name="listener" value="param_value" />
  </node>

<node pkg="robot_setup_tf" type="pose_publisher" name="pose_publisher" output="screen">
    <param name="pose_publisher" value="param_value" />
  </node>
<node pkg="robot_setup_tf" type="base_controller" name="base_controller" output="screen">
    <param name="base_controller" value="param_value" />
  </node>

  <node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler">
    <remap from="scan" to="tilt_scan"/>
    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="base_link" />
  </node>

  <node type="point_cloud_assembler" pkg="laser_assembler" name="my_assembler2">
    <remap from="cloud" to="my_cloud_in"/>
    <param name="max_clouds" type="int" value="400" />
    <param name="fixed_frame" type="string" value="base_link" />
  </node>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />

  </node>

<node pkg="rviz" type="rviz" name="rviz" output="screen">
    <param name="rviz" value="param_value" />
  </node>

</launch>

Base local planner:

TrajectoryPlannerROS:
  max_vel_x: 0.25
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 10.0
  acc_lim_x: 10.0
  acc_lim_y: 10.0

  holonomic_robot: false
  meter_scoring: true

Global costmap:

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true

Local costmap:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 5.0
  static_map: true
  rolling_window: true
  /*width: 6.0
  /*height: 6.0
  resolution: 0.05
  obstacles: 5.0

Costmap common:

obstacle_range: 1.5
raytrace_range: 1.5
#robot_radius: 0.1
inflation_radius: 0.5
transform_tolerance: 0.3
footprint: [ [0.25, 0.25], [-0.25, 0.25],[-0.25, -0.25], [0.25, -0.25 ...