strange movement with dwa

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Dear all,

I am trying to perform navigation with my robot. I have created a map using rtabmap_ros with stereo+2Dlaser configuration. I have tried to tune the navigation parameter, but still there is this strange behaviour. (see video here). I think it might be localization problem. I am not sure. Can some guide me?

Here are my costmap parameters:

global costmap:

#global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 1
publish_frequency: 1
static_map: true
rolling_window: false
always_send_full_costmap: false
transform_tolerance: 0.5
inflation_radius: 0.55
cost_scaling_factor: 10.0

plugins:
   - {name: static_layer, type: "rtabmap_ros::StaticLayer"}
   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
   - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}

local_costmap:

local_costmap:
  global_frame: wheel_odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.03
  inflation_radius: 0.55
  cost_scaling_factor: 5.0
  origin_x: -2.0
  origin_y: -2.0

common_costmap:

footprint: [[0.2,0.28],[-0.45,0.28],[-0.45,-0.28],[0.2,-0.28]]
obstacle_range: 2.5
raytrace_range: 3.0
footprint_padding: 0.02
robot_radius: 0.36

transform_tolerance: 2
observation_sources: laser_scan_pls point_cloud_sensor
laser_scan_pls: {sensor_frame: sick_pls_link,  data_type: LaserScan,  topic: /sick_pls/scan,  marking: true,  clearing: true}

point_cloud_sensor: {sensor_frame:  bumblebee_left,    data_type: PointCloud2,    topic: /planner_cloud,     expected_update_rate: 0.5,     marking: true,     clearing: true,   min_obstacle_height: -99999.0,    max_obstacle_height: 1.5}
map_type: costmap

local_planner: DWAPlannerROS:

###Robot Configuration Parameters

  acc_lim_x : 1.5

    #The x acceleration limit of the robot in meters/sec^2 

  acc_lim_y : 2

    #The y acceleration limit of the robot in meters/sec^2 

  acc_lim_theta : 3
    #The rotational acceleration limit of the robot in radians/sec^2 

  max_vel_trans : 0.12

    #The absolute value of the maximum translational velocity for the robot in m/s 

  min_vel_trans : 0.05

    #The absolute value of the minimum translational velocity for the robot in m/s 

  max_vel_x : 0.12

    #The maximum x velocity for the robot in m/s. 

  min_vel_x : 0

    #The minimum x velocity for the robot in m/s, negative for backwards motion. 

  max_vel_y : 0

    #The maximum y velocity for the robot in m/s 

  min_vel_y : 0

    #The minimum y velocity for the robot in m/s 

  max_vel_theta : 0.35

    #The absolute value of the maximum rotational velocity for the robot in rad/s 

  min_vel_theta : -0.2

    #The absolute value of the minimum rotational velocity for the robot in rad/s 

  meter_scoring: true

     #
  min_in_place_vel_theta: 0.0

###Goal Tolerance Parameters


  yaw_goal_tolerance : 0.1

    #The tolerance in radians for the controller in yaw/rotation when achieving its goal 

  xy_goal_tolerance : 0.1

    #The tolerance in meters for the controller in the x & y distance when achieving a goal 

  #latch_xy_goal_tolerance : false

    #If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so. 



###Forward Simulation Parameters


  sim_time : 1.3

    #The amount of time to forward-simulate trajectories in seconds 

  sim_granularity : 0.025

    #The step size, in meters, to take between points on a given trajectory 
  angular_sim_granularity: 0.017

  vx_samples : 3

    #The number of samples to use when exploring the ...