Robot planner tuning - does not plan down the middle of small pathways

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Hello All,

I've had some difficulty tuning the global planner. The basic problem is the plan ends up hugging one side of the path. In this case we are using "unknown" cells to restrict the robots path. Here we want the robot to drive between low lying objects that it can not observe.

Here we can see the problem I am facing: http://imgur.com/YRjQHtm

It seems that the created path is not in the middle, instead it is adjacent to lethal cost cells and at times crosses over lethal cost. If the path is sufficiently wide it appears the plan stays somewhat in the middle but as the path gets smaller and smaller it eventually hugs one side.

Currently, we are using Navfn however I tested the planning behavior of global planner and it did the same or similar. I can show how that behaves too if necessary.

Move_base parameters:

edit* yikes this is unreadable, any easy way to format this?

NavfnROS: {allow_unknown: false}
TrajectoryPlannerROS: {acc_lim_th: 9.0, acc_lim_theta: 3.2, acc_lim_x: 3.0, acc_lim_y: 2.5,
  angular_sim_granularity: 0.025, dwa: false, escape_reset_dist: 0.1, escape_reset_theta: 1.57079632679,
  escape_vel: 0.0, gdist_scale: 0.8, heading_lookahead: 0.325, heading_scoring: false,
  heading_scoring_timestep: 0.1, holonomic_robot: false, max_rotational_vel: 0.5,
  max_vel_theta: 1.0, max_vel_x: 0.6, meter_scoring: true, min_in_place_rotational_vel: 0.2,
  min_in_place_vel_theta: 0.4, min_vel_theta: -1.0, min_vel_x: 0.25, occdist_scale: 0.01,
  oscillation_reset_dist: 0.05, pdist_scale: 1.2, restore_defaults: false, sim_granularity: 0.025,
  sim_time: 1.7, simple_attractor: false, vtheta_samples: 20, vx_samples: 20, xy_goal_tolerance: 0.2,
  y_vels: '-0.3,-0.1,0.1,-0.3', yaw_goal_tolerance: 0.25}
aggressive_reset: {reset_distance: 1.84}
base_global_planner: navfn/NavfnROS
base_local_planner: base_local_planner/TrajectoryPlannerROS
clearing_rotation_allowed: true
conservative_reset: {reset_distance: 3.0}
conservative_reset_dist: 3.0
controller_frequency: 10.0
controller_patience: 5.0
global_costmap:
  footprint: '[]'
  footprint_padding: 0.01
  global_frame: map
  height: 10
  inflation_layer: {cost_scaling_factor: 4.0, enabled: true, inflation_radius: 2.0}
  map_type: costmap
  obstacle_layer:
    combination_method: 1
    enabled: true
    laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: LMS151,
      topic: bottom_scan}
    laser_scan_sensor2: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: TiM551,
      topic: top_scan}
    map_cloud: {clearing: true, data_type: PointCloud2, marking: true, sensor_frame: base_link,
      topic: map_pointcloud}
    max_obstacle_height: 2.0
    observation_sources: velodyne_scan map_cloud laser_scan_sensor laser_scan_sensor2
    obstacle_range: 5.0
    raytrace_range: 6.0
    track_unknown_space: true
    velodyne_scan: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: velodyne,
      topic: velodyne_scan}
  obstacle_layer_footprint: {enabled: true}
  origin_x: 0.0
  origin_y: 0.0
  plugins:
  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
  publish_frequency: 0.0
  resolution: 0.05
  robot_base_frame: base_link
  robot_radius: 0.5
  static_layer: {enabled: true, track_unknown_space: true, unknown_cost_value: 253}
  static_map: true
  transform_tolerance: 0.3
  update_frequency: 5.0
  width: 10
local_costmap:
  footprint: '[]'
  footprint_padding: 0.01
  global_frame: map
  height: 10
  inflation_layer: {cost_scaling_factor: 0.8, enabled: true, inflation_radius: 2.0}
  map_type: costmap
  obstacle_layer:
    combination_method: 1
    enabled: true
    laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: LMS151,
      topic: bottom_scan}
    laser_scan_sensor2: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: TiM551,
      topic: top_scan}
    map_cloud: {clearing: true, data_type: PointCloud2, marking: true, sensor_frame: base_link,
      topic: map_pointcloud}
    max_obstacle_height: 2.0
    observation_sources: velodyne_scan map_cloud laser_scan_sensor laser_scan_sensor2
    obstacle_range: 5.0 ...