Navigation and rotation_recovery

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Hi all,

I am currently fine tuning the parameters of my turtlebot navigation. Currently, my turtlebot seems to think it is stuck although there is a big enough gap to move through it, this is especially so when turning corners. When it reaches a collision cost factor of -1.00, the robot just stops and gets stuck. Any idea how to solve this problem? Is it possible to tweak the rotation_recovery parameters? My costmap parameters for the inflation layer are already set to the bare minimum so that it can move through narrow corridors. (I'm using only a 2D RPLidar Sensor)

Thanks!