Attempting to use the ros navigation stack for autonomy. I'm able to get Laserscan information in rviz, but unable to avoid obstacles using the rplidar, SLAMgmapping, and movebase. When giving the robot a 2d nav_goal in rviz the robot shifts right and left then fails to go in a straight line. Any feedback would be appreciated. Most of the necessary files are below!

gmapping.launch

<launch>

  <arg name="scan_topic" default="scan" />

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

<param name="odom_frame" value="odom"/>
<param name="base_frame" value="base_link"/>
<param name="map_frame" value="map"/>

<!-- Process 1 out of every this many scans (set it to a higher number to skip more scans)  -->
<param name="throttle_scans" value="1"/>

<param name="map_update_interval" value="5.0"/> <!-- default: 5.0 -->

<!-- The maximum usable range of the laser. A beam is cropped to this value.  -->
<param name="maxUrange" value="5.5"/>

<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange -->
<param name="maxRange" value="15.0"/>

<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="minimumScore" value="0.0"/>
<!-- Number of beams to skip in each scan. -->
<param name="lskip" value="0"/>

<param name="srr" value="0.1"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.02"/>

<!-- Process a scan each time the robot translates this far  -->
<param name="linearUpdate" value="0.2"/>

<!-- Process a scan each time the robot rotates this far  -->
<param name="angularUpdate" value="0.25"/>

<param name="temporalUpdate" value="5.0"/>
<param name="resampleThreshold" value="0.5"/>

<!-- Number of particles in the filter. default 30        -->
<param name="particles" value="100"/>

<!-- Initial map size  -->
<param name="xmin" value="-10.0"/>
<param name="ymin" value="-10.0"/>
<param name="xmax" value="10.0"/>
<param name="ymax" value="10.0"/>

<!-- Processing parameters (resolution of the map)  -->
<param name="delta" value="0.025"/>

<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>

<remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

move_base.launch

<launch>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find robot_navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find robot_navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />

<rosparam file="$(find robot_navigation)/params/map_nav_params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_navigation)/params/map_nav_params/global_costmap_params.yaml" command="load" />

<rosparam file="$(find robot_navigation)/params/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find robot_navigation)/params/move_base_params.yaml" command="load" />

<param name="base_global_planner" type="string" value="navfn/NavfnROS" />
<param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
<!-- param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/-->

  </node>

</launch>

move_base.yaml

shutdown_costmaps: false
track_unkown_sources: true

controller_frequency: 5.0
controller_patience: 15.0

planner_frequency: 2.0
planner_patience: 2.0

oscillation_timeout: 0.0
oscillation_distance: 0.5

recovery_behavior_enabled: true
clearing_rotation_allowed: true

baselocalplanner.yaml

TrajectoryPlannerROS:
  # Robot Configuration Parameters

  # Set the aceleration limits of the robot
  acc_lim_x: 2.5
  acc_im_y: 0.0
  # The rotational acceleration limit of the robot (default setting)
  acc_lim_theta: 3.2

  # Set the velocity limits of the robot
  max_vel_x: 2.0
  min_vel_x: -2.0
  max_vel_theta: 4.0
  min_vel_theta: -4.0

  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 2.0
  min_in_place_vel_theta: 2.0
  y_vels: [0, 0, 0, 0]

  # The velocity the robot will command when trying to escape from a stuck situation
  escape_vel: -1.0

  holonomic_robot: false



 # Goal Tolerance Default Parameters
  yaw_goal_tolerance: 0.05
  xy_goal_tolerance: 0.10
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.5
  sim_granularity: 0.025
  angular_sim_granularity: 0.02
  vx_samples: 15.0
  vtheta_samples: 20.0
  controller_frequency: 10.0

    # Trajectory scoring parameters
  meter_scoring: true 
      occdist_scale:  0.1 
      pdist_scale: 0.75  
      heading_lookahead: 0.325  
      heading_scoring: false  
      heading_scoring_timestep: 0.8 
      dwa: false 

      simple_attractor: false
      publish_cost_grid_pc: true

  oscillation_reset_dist: 0.05 
  escape_reset_dist: 0.1
  escape_reset_theta: 0.1

costmapcommonparams.yaml

map_type: costmap_2d
origin_z: 0.0
z_resolution: 1
z_voxels: 2

obstacle_range: 2.5
raytrace_range: 3.0

publish_voxel_map: false
transform_tolerance: 0.5
meter_scoring: true

footprint: [[-0.21, -0.165], [-0.21, 0.165], [0.21, 0.165], [0.21, -0.165]]
footprint_padding: 0.1
observation_sources: laser_scan_sensor

laser_scan_sensor: [sensor_frame: /laser , data_type: LaserScan, topic: /scan, marking: true, clearing: true]

plugins:
- {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}

obstacles_layer:
  observation_sources: scan
  enabled: true
  scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: -2.0, max_obstacle_height: 2.0, obstacle_range: 2.5, raytrace_range: 3.0}

    inflater_layer:

 enabled: true
 cost_scaling_factor: 5.0
 inflation_radius: 0.10

localcostmapparams.yaml

local_costmap:
   global_frame: "map"
   robot_base_frame: "base_link"
   tansform_tolerance: 0.2
   update_frequency: 1.0
   publish_frequency: 10.0
   width: 15.0
   height: 15.0
   resolution: 0.05
   origin_x: 0.0
   origin_y: 0.0
   static_map: false
   rolling_window: true
   always_send_full_costmap: false

   plugins:
   #- {name: static_layer, type: "costmap_2d::StaticLayer"}#
   - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
   - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

   ##static_layer:
    ##unknown_cost_value: -1.0
    ##lethal_cost_threshold: 100
    ##map_topic: "map"
    ##first_map_only: false
    ##subscribe_to_updates: false
    ##track_unknown_space: true
    ##use_maximum: false
    ##trinary_costmap: true

   obstacles_layer:
    track_unknown_space: false
    footprint_clearing_enabled: true

   inflater_layer:
    inflation_radius: 0.10
    cost_scaling_factor: 5.0

globalcostmapparams.yaml

global_costmap:
   global_frame: "map"
   robot_base_frame: "base_link"
   tansform_tolerance: 0.2
   update_frequency: 1.0
   publish_frequency: 10.0
   width: 15.0
   height: 15.0
   resolution: 0.05
   origin_x: 0.0
   origin_y: 0.0
   static_map: true
   rolling_window: false
   always_send_full_costmap: false

   plugins:
   - {name: static_layer, type: "costmap_2d::StaticLayer"}
   - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
   - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

   static_layer:
    unknown_cost_value: -1.0
    lethal_cost_threshold: 100
    map_topic: "map"
    first_map_only: false
    subscribe_to_updates: false
    track_unknown_space: true
    use_maximum: false
    trinary_costmap: true

   obstacles_layer:
    track_unknown_space: false
    footprint_clearing_enabled: true

   inflater_layer:
    inflation_radius: 0.10
    cost_scaling_factor: 5.0