Move base stay at max speed

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Hi, I'm trying to use the navigation package for ros on a virtual robot in gazebo and I have some troubles.

(Using Ros-kinetic, move_base package, gmapping SLAM, diff drive control)

The problem seems to be that when the nav sends a linear x speed to cmd_vel, he never put it back to 0, so the robot rushes forward until he hit a wall (or fall over, depending on the max speed). I don't understand if that comes from the nav package (a bad config ? ) or from the controller package.

The path showed in rviz seems correct, and he tries to correct his trajectory when he goes too far, but he doesn't seem capable of slowing down or move backward. I am new on ros, and I don't really know where to look :/ I use everything in launch file and yaml config. (don't know how much I need to send, so tell me if you need more ) Thanks :)

dummy_navigation.launch :

include file="$(find dummy_description)/launch/amcl.launch.xml"
arg name="cmd_vel_topic" default="cmd_vel" 
arg name="odom_topic" default="/robot/odom_diffdrive"
arg name="move_forward_only" default="true"

node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"

<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>

<rosparam file="$(find dummy_description)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find dummy_description)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find dummy_description)/param/local_costmap_params.yaml" command="load"/>
<rosparam file="$(find dummy_description)/param/global_costmap_params.yaml" command="load"/>
<rosparam file="$(find dummy_description)/param/move_base_params.yaml" command="load"/>
<rosparam file="$(find dummy_description)/param/dwa_local_planner_params.yaml" command="load"/>
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />

</node>

dwa_local_planner DWAPlannerROS: max_vel_x: 0.5 min_vel_x: -0.88

 max_vel_y: 0.0 # diff drive robot
 min_vel_y: 0.001 # diff drive robot
 max_trans_vel: 0.88
 min_trans_vel: -0.2
 max_rot_vel: 0.08
 min_rot_vel: -0.05

 acc_lim_x: 0.1
 acc_lim_y: 0.0
 acc_lim_theta: 0.01

 yaw_goal_tolerance: 0.15
 xy_goal_tolerance: 0.2

 sim_time: 5.0
 vx_samples: 8
 vy_samples: 0
 vtheta_samples: 2
 controller_frequency: 20.0

path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05

publish_traj_pc: true
publish_cost_grid_pc: true
 global_frame_id: odom

Diff driver inside xacro :

    <gazebo>
  <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>robot/odom_diffdrive</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <publishOdomTF>true</publishOdomTF>
    <robotBaseFrame>base_footprint</robotBaseFrame>
    <publishWheelTF>true</publishWheelTF>
    <publishTf>true</publishTf>
    <publishWheelJointState>true</publishWheelJointState>
    <legacyMode>false</legacyMode>
    <updateRate>30</updateRate>
    <leftJoint>wheel_left_join</leftJoint>
    <rightJoint>wheel_right_join</rightJoint>
    <wheelSeparation>0.386</wheelSeparation>
    <wheelDiameter>0.032</wheelDiameter>
    <wheelAcceleration>1</wheelAcceleration>
    <wheelTorque>10</wheelTorque>
    <rosDebugLevel>na</rosDebugLevel>
  </plugin>
</gazebo>

robot_controle.yaml :

 robot:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50  

mobile_base_controller:
type        : "diff_drive_controller/DiffDriveController"
left_wheel : 'wheel_left_joint'
right_wheel : 'wheel_right_joint'
publish_rate: 50.0               # default: 50
pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

# Wheel separation and diameter. These are both optional.
# diff_drive_controller ...