TEB local planner oscillates along straight line

edit

Hey,

I am trying to execute a motion along straight line. It suppose to be a motion back and forth, like from (0,0) to (5,0) and then back to (0,0). I modified global planner to provide such plan as a one path, however local planner acts very weird. It moves the robot to point around (2.5, 0) and then local plan end-point starts jumping. It jumps to the front and to the back of the robot (distance between the robot and local planner end-point is equal to max_global_plan_lookahead_dist, changing that parameter doesn't change its behavior). I tried to use viapoints, change weights for that etc. but it doesn't help. Robot moves a little bit forth, and then local planner end-point jumps on the back. It oscillates like that forever. I am using omnidirectional robot but it should not be the case here.

I guess that the easiest way to reproduce it would be to generate global plan like the one below and start execution (some subgoals may be needed). I will appreciate at least some hints which parameters should I change to make it work. Thanks :)

header: 
  seq: 1
  stamp: 
    secs: 0
    nsecs: 425000000

  frame_id: "map"
poses: 
  - 
header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs: 500000000
  frame_id: "map"
pose: 
  position: 
    x: 5.0
    y: 0
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0
    w: 1.0
  - 
header: 
  seq: 2
  stamp: 
    secs: 0
    nsecs: 600000000
  frame_id: "map"
pose: 
  position: 
    x: 0.0
    y: 0
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0
    w: 1.0