the robot rotates instead of following the path

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Hello

my robot seems to be undecided when following a trajectory from a certain point. It rotate in the same place over and over again.

Video: robot video

The problem seems to happen sometimes and only in a few places.

Maybe my robot's footprint is interfering negatively. I believe that there is no problem with the base, because using the teleop_twist_keyboard it works well.

My robot is differential, with RPLIDAR A1. Move_base is running on a machine on the local network with core i5 and base_controler on a raspberrypi. My odometry rate is approximately 50Hz. My local planner is TrajectoryPlannerROS

Any parameter tips to adjust?

Here are my yaml files:

    local_costmap:
          global_frame: /map
          robot_base_frame: /base_footprint
          update_frequency: 5.0
          publish_frequency: 2.0
          static_map: false
          rolling_window: true
          width: 5.0
          height: 5.0
          resolution: 0.02 #defaul 0.02
          transform_tolerance: 0.5

    global_costmap:
          global_frame: /map
          robot_base_frame: /base_footprint
          transform_tolerance: 0.5 

          update_frequency: 1.0
          publish_frequency: 1.0 
          static_map: true
          rolling_window: false

   costmap_common_params_navigation:
          obstacle_range: 2.5
          raytrace_range: 3.0

          footprint: [[-0.06,-0.115],[-0.06,0.115],[0.17,0.115],[0.17,-0.115]]

          observation_sources: scan
          scan: {sensor_frame: base_link,  observation_persistence: 0.0, max_obstacle_height: 0.4, min_obstacle_height: 0.0, data_type: LaserScan, topic: /scan, marking: true, clearing: true}


    move_base:

          controller_patience: 15.0 
          planner_frequency: 3.0 
          controller_frequency: 15.0 

          TrajectoryPlannerROS:
              max_vel_x: 0.20
              min_vel_x: 0.10
              max_vel_theta:  1.0 #0.4
              min_vel_theta: -1.0 #-0.4
              max_rotational_vel: 0.6 
              min_in_place_rotational_vel: 0.6 
               max_in_place_vel_theta: 1.0 
               min_in_place_vel_theta: 1.0 
              occdist_scale: 0.05 #defaul 0.1 
              holonomic_robot: false


    AMCL:
    <launch>
        <node pkg="amcl" type="amcl" name="amcl" output="screen">
          <!-- Publish scans from best pose at a max of 10 Hz -->
          <param name="odom_model_type" value="diff"/>
          <param name="odom_alpha5" value="0.1"/>
          <param name="transform_tolerance" value="0.1"/>
          <param name="gui_publish_rate" value="10.0"/>
          <param name="laser_max_beams" value="30"/>
          <param name="min_particles" value="500"/>
          <param name="max_particles" value="5000"/>
          <param name="kld_err" value="0.05"/>
          <param name="kld_z" value="0.99"/>
          <param name="odom_alpha1" value="0.2"/>
          <param name="odom_alpha2" value="0.2"/>
          <!-- translation std dev, m -->
          <param name="odom_alpha3" value="0.8"/>
          <param name="odom_alpha4" value="0.2"/>
          <param name="laser_z_hit" value="0.5"/>
          <param name="laser_z_short" value="0.05"/>
          <param name="laser_z_max" value="0.05"/>
          <param name="laser_z_rand" value="0.5"/>
          <param name="laser_sigma_hit" value="0.2"/>
          <param name="laser_lambda_short" value="0.1"/>
          <param name="laser_lambda_short" value="0.1"/>
          <param name="laser_model_type" value="likelihood_field"/>
          <!-- <param name="laser_model_type" value="beam"/> -->
          <param name="laser_likelihood_max_dist" value="2.0"/>
          <param name="update_min_d" value="0.2"/>
          <param name="update_min_a" value="0.5"/>
          <param name="odom_frame_id" value="odom"/> 
          <param name="resample_interval" value="1"/>
          <param name="recovery_alpha_slow" value="0.0"/>
          <param name="recovery_alpha_fast" value="0.0"/>
          <param name="base_frame_id" value="base_footprint"/>
        </node>
    </launch>