Collision issue

edit

So I am a little confused, my robot plans the route fine but then piles in to the obstacles, the green line is always spot on what it needs to do, the SLAM positions the robot fine etc. but the actual route it takes (purple) takes it far too near obstacles

Second question, why is my /map never moving with my robot?

I have a footprint, and collision enabled on the URDF. Could this be a motor control issue?

 local_costmap:
   global_frame: /map
   robot_base_frame: /scanmatcher_frame 
   update_frequency: 5.0 
   publish_frequency: 2.0
   static_map: false 
   rolling_window: true 
   width: 4.0 # The width of the map in meters. default 10
   height: 4.0 # The height of the map in meters. default 10
   resolution: 0.05 # The resolution of the map in meters/cell. default 0.05
   transform_tolerance: 0.5 

global_costmap:
   global_frame: /map
   robot_base_frame: /scanmatcher_frame 
   update_frequency: 1.0 
   publish_frequency: 0.5
   static_map: true # 
   transform_tolerance: 0.5


obstacle_range: 2.5 
raytrace_range: 3.0
footprint: [ [0.08, 0.08], [-0.08, 0.08], [-0.08, -0.08], [0.08, -0.08] ] 
inflation_radius: 0.3 
map_type: costmap 
observation_sources: scan bump 

scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}

TrajectoryPlannerROS:
# Robot Configuration Parameters
  max_vel_x: 0.5
  min_vel_x: 0.1

  max_vel_theta:  1.5  
  min_vel_theta: -1.5 
  min_in_place_vel_theta: 1.0

  acc_lim_x: 0.6
  acc_lim_theta: 1.0

# Goal Tolerance Parameters
  yaw_goal_tolerance: 3.14 
  xy_goal_tolerance: 0.15 

# Forward Simulation Parameters
  sim_time: 3.0
  vx_samples: 6
  vtheta_samples: 20 

# Trajectory Scoring Parameters
  meter_scoring: true
  pdist_scale: 0.6
  gdist_scale: 0.8 
  occdist_scale: 0.01 
  heading_lookahead: 0.325 
  dwa: true 

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 

# Differential-drive robot configuration
  holonomic_robot: false