Robot doesn't avoid obstacles Move Base

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Hello,

I try to make my robot navigate through some narrow passways (70cm) (robot 40cm wide), but no matter what paramaters i change the robot doesnt respect the inflation and doesnt correct it's course when near walls

My odom and amcl although not perfect, i think are pretty good odom (test by setting the decay time for the laser e.q 20) ideally the scans should align

pic odom:

amcl test :

bump into wall test (move base) :

local costmap

P.S with dwa local planner which is the defacto the robot rotates so i use Trajectory planner, maybe by fixing this problem i can use dwa after P.S also the local costmap i can visualize only with map scheme or raw but no costmap? weird ,i think i can see the inflation layer of new obstacles

Any help to increase the robustness of move base to navigate in tight corridors welcome

Thanks so much for your time!!

config of move base and amcl code below:

Base global planner

recovery_behaviour_enabled: true
#controller_frequency: 2 
NavfnROS:
allow_unknown: false # Specifies whether or not to allow navfn to create plans that traverse unknown space.
default_tolerance: 0.2 # A tolerance on the goal point for the planner.

Base local planner

recovery_behaviour_enabled: true

TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 0.5
acc_lim_theta:  0.5
max_vel_x: 0.17
min_vel_x: 0.11
max_vel_theta: 0.11
min_vel_theta: 0.075
max_in_place_vel_theta: 0.11
min_in_place_vel_theta: 0.075
holonomic_robot: false
escape_vel: -0.1
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.15
xy_goal_tolerance: 0.15
latch_xy_goal_tolerance: true
# Forward Simulation Parameters
sim_time: 2
sim_granularity: 0.02
angular_sim_granularity: 0.02
vx_samples: 10
vtheta_samples: 25
controller_frequency: 20.0
# Trajectory scoring parameters
meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and  path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
occdist_scale:  0.2 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01
pdist_scale: 1.5  #     The weighting for how much the controller should stay close to the path it was given . default 0.6
gdist_scale: 1.5 #     The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8
heading_lookahead: 0.1  #How far to look ahead in meters when scoring different in-place-rotation trajectories
heading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default false
heading_scoring_timestep: 0.4   #How far to look ahead in time in seconds along the simulated trajectory when using   heading scoring
dwa: false #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
simple_attractor: false
publish_cost_grid_pc: true  
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.1 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
escape_reset_dist: 0.2
escape_reset_theta: 0.2

Costmap common Paramaters

footprint: [[-0.175, -0.175], [-0.175, 0.175], [0.175, 0.175], [0.175, -0.175]]
footprint_padding: 0.05
map_type: costmap

obstacle_range: 3
raytrace_range: 3 ...