Navigation issue

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Hello,

I can't figure out why my real robot does not stop when it arrives close to its goal. that is my configurations:

I have kinetic distro, ubuntu 16.04 real_sense d435 to make Laserscan topic, encoders for the odometry.

main launch file:

<?xml version="1.0"?>
<launch>
<arg name="move_base"              default="true" />
<!--load platform 3d model-->
<!--<include file="$(find arl_description)/launch/newurdf.launch" />-->

 <!-- bringup realsense camera -->
  <group ns="camera">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml"/>
  </group>

<!--camera tf-->
<node pkg="tf" type="static_transform_publisher" name="camera_link_arl" args="0.15 0 0.2 0 0 0 base_link camera_link 30" />

<!-- Laser topic -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
        <remap from="image" to="/camera/depth/image_rect_raw"/>
        <remap from="camera_info" to="/camera/depth/camera_info"/>  
      </node>

<!-- encoders odometry -->
    <include file="$(find arl_description)/launch/physical_odometry.launch" />

<!--load rtabmap mapping-->
<include file="$(find arl_description)/launch/rtabmap_realsense.launch" > 
<arg name="localization"            default="true"/>
<arg name="mapping"                 value="false" />

 <arg name="rtabmapviz"              default="false" /> 
 <arg name="rviz"                    default="true" />
  <arg name="frame_id"               value="base_link" /> <!--kkk-->
  <arg name="rgb_topic"               default="/camera/color/image_raw" />
  <arg name="depth_topic"         default="/camera/aligned_depth_to_color/image_raw" /><!--was aligned-->
  <arg name="camera_info_topic"       default="/camera/color/camera_info" />
 </include>


 <!-- ROS navigation stack move_base -->
     <node if="$(arg move_base)" pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
        <rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find arl_description)/launch/nav_data/local_costmap_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find arl_description)/launch/nav_data/global_costmap_params.yaml" command="load" ns="global_costmap"/>
        <rosparam file="$(find arl_description)/launch/nav_data/base_local_planner_params.yaml" command="load" />
<param name="recovery_behavior_enabled" value="true" />  
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<!--<remap from="move_base_simple/goal" to="rtabmap/goal"/>-->
<remap from="scan" to="scan"/>
<remap from="map"     to="/grid_map"/>
     </node>

<arg name="rviz_cfg"                default="$(find arl_description)/launch/realsenseARL.rviz" />
<node  pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>-->

</launch>

my rtabmap launch file(it is the main things):

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg delete_db)">
      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>

      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_scan" type="bool" value="true"/>
      <!--<param name="subscribe_scan_cloud" type="bool" value="true"/>-->
      <param name="frame_id" type="string" value="$(arg frame_id)"/>
     <!--  <param name="publish_tf" type="bool" value="$(arg publish_map_tf)" /> -->     

        <remap from="rgb/image"       to="$(arg rgb_topic)"/>
        <remap from="depth/image"     to="$(arg depth_topic)"/>
        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
    <remap from="odom" to="/odom"/><!-- to get the odometry from the encoders and not from the kinect-->
    <remap from="scan" to="/scan"/>
    <remap from="scan_map" to="cloud_map"/>
    <!--<remap from="grid_map" to="/map"/>-->

      <param name="approx_sync" type="bool" value="true"/>


    <!--    <param name="LccBow/MinInliers" type="string" value="10"/>
      <param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/> --> 

         <!-- RTAB-Map's parameters -->
          <param name="RGBD/AngularUpdate ...