How to Avoid Collision (Obstacle) while navigating using rtabmap_ros and navigation stack

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Hello, I am trying to perform autonomous navigation by using move_base node of navigation stack.

here is what I did,

1. After mapping the environment using rtabmap_ros package, I stop the mapping session.
2. start the rtabmap node again in localization mode and move the robot around.

I have two problems,

1. The map is automatically loaded as soon as I start the rtabmap node in localization mode, even before localization of the robot. ideally, map should load when robot localizes itself.

2. When I send the goal command using RVIZ "2D Nav Goal", It calculates the global trajectory correctly avoiding the obstacles. However, when the robot moves it collides with obstacle. and once it collides with the obstacle, it remains stuck there and does not get out of the situation.

Please guide what is that I am missing here,

here is my rtabmap launch file , https://gofile.io/?c=SoKwnx

here is my world file, https://gofile.io/?c=dsE9Tw

I spawn my husky robot into this world using a launch file here is the link to those launch files,

https://gofile.io/?c=CVNYK9

https://gofile.io/?c=MWeZWN

here is my robot description file

https://gofile.io/?c=Tmim8u

thanks in advance