Robot keeps rotating inplace when the goal is set

edit

Have a look at my video:

LINK

As you can see, the robot cannot go simply straight and very often rotates inplace. Really, it does not purely rotate inplace as my motor cannot spin anti-clockwise, the one wheel will be set to 0 and other spins making a partial inplace rotation.

Here is my TrajectoryPlannerROS:

recovery_behavior_enabled: true
clearing_rotation_allowed: true

TrajectoryPlannerROS:
  acc_lim_x: 1
  acc_lim_y: 0 # as we have a differential robot
  acc_lim_theta: 1.6
  max_vel_x: 0.6 # configure, was 0.2
  min_vel_x: 0.35 # was 0.4
  max_vel_y: 0.0  # zero for a differential drive robot
  min_vel_y: 0.0
  max_vel_theta: 3.0 # 0.35
  min_vel_theta: -1.2 #-1.6
  min_in_place_vel_theta: 2.0 #3.0
  min_rot_vel: 1.2 # 3.0
  escape_vel: 1.2

  holonomic_robot: false

  meter_scoring: true

  xy_goal_tolerance: 0.3 # 0.15, 0.3->about 20 cm
  yaw_goal_tolerance: 0.20 # 0.25, about 11 degrees
  latch_xy_goal_tolerance: true  #false

  sim_time: 3 # <2 values not enough time for path planning and can't go through narrow
  sim_granularity: 0.05 # How frquent should the points on trajectory be examined
  angular_sim_granularity: 0.025
  vx_samples: 20
  vy_samples: 0 # 0 for differential robots
  vtheta_samples: 5 # 20
  controller_frequency: 15

  pdist_scale: 0.8
  gdist_scale: 0.4
  occdist_scale: 0.01
  oscillation_reset_dist: 0.2
  heading_scoring: true
  heading_lookahead: 1 # how far to look ahead in meters
  heading_scoring_timestep: 0.8
  dwa: true
  publish_cost_grid_pc: false
  global_frame_id: odom
  simple_attractor: false

  reset_distance: 4

  prune_plan: true