[ERROR] [controller_server]: No valid trajectories out of 0!

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I am trying to run a navigation simulation with some of the nav2 packages and rviz. The node that I run are: map_server, planner_server, waypoint_follower, controller_server, recovery_server, bt_navigator. I provide also the static transform world -> map, map -> base_link (non static custom tranforsm to localize), base_link -> odom and I visualize all on rviz2. Here the main configurations:

bt_navigator:
  ros__parameters:
    bt_xml_filename: "/home/lorenzoteo/bt_navigator.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    controller_plugin_types: ["dwb_core::DWBLocalPlanner"]
    controller_plugin_ids: ["FollowPath"]
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001

# DWB parameters
FollowPath.debug_trajectory_details: True
FollowPath.min_vel_x: 0.0
FollowPath.min_vel_y: 0.0
FollowPath.max_vel_x: 0.26
FollowPath.max_vel_y: 0.0
FollowPath.max_vel_theta: 1.0
FollowPath.min_speed_xy: 0.0
FollowPath.max_speed_xy: 0.26
FollowPath.min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
FollowPath.acc_lim_x: 2.5
FollowPath.acc_lim_y: 0.0
FollowPath.acc_lim_theta: 3.2
FollowPath.decel_lim_x: -2.5
FollowPath.decel_lim_y: 0.0
FollowPath.decel_lim_theta: -3.2
FollowPath.vx_samples: 20
FollowPath.vy_samples: 5
FollowPath.vtheta_samples: 20
FollowPath.sim_time: 1.7
FollowPath.linear_granularity: 0.05
FollowPath.angular_granularity: 0.025
FollowPath.transform_tolerance: 0.2
FollowPath.xy_goal_tolerance: 0.25
FollowPath.critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
FollowPath.BaseObstacle.scale: 0.02
FollowPath.PathAlign.scale: 0.0
FollowPath.GoalAlign.scale: 0.0
FollowPath.PathDist.scale: 32.0
FollowPath.GoalDist.scale: 24.0
FollowPath.RotateToGoal.scale: 32.0
FollowPath.short_circuit_trajectory_evaluation: True
FollowPath.trans_stopped_velocity: 0.25
FollowPath.slowing_factor: 5.0
FollowPath.lookahead_time: -1.0
FollowPath.stateful: True

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      robot_base_frame: base_link
      use_sim_time: True
      global_frame: map
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
      robot_radius: 0.22
      inflation_layer:
        cost_scaling_factor: 3.0
      obstacle_layer:
        enabled: False
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      voxel_layer:
        enabled: False
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: pointcloud
        pointcloud:
          topic: /intel_realsense_r200_depth/points
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      robot_base_frame: base_link
      global_frame: map
      use_sim_time: True
      plugin_names: ["static_layer"]
      plugin_types: ["nav2_costmap_2d::StaticLayer"]
      robot_radius: 0.22
      resolution: 0.05
      obstacle_layer:
        enabled: False
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      voxel_layer:
        enabled: False
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: pointcloud
        pointcloud:
          topic: /intel_realsense_r200_depth/points
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: True
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

The result is that I obtain that message on controller server and the robot continues to spin due to robot recoveries. Why?