DWB local planner velocity output not smooth

edit

Hi,

I'm using DWB local planner with nav_core2 on melodic, and always the velocity output is not smooth.

Robot keeps twirling , bouncing from wall to wall.

When i reduce the acceleration parameters , robot sometime is unable to move at initial trajectories and keeps in place for a while the fails goal. (Motors used in robot dosen't work well at low speed torque supplied isn't enough)

Please tell me if i'm doing anything wrong will me much appreciated.

DWBLocalPlanner:
  update_costmap_before_planning: true
  prune_plan: true
  prune_distance: 1.0
  short_circuit_trajectory_evaluation: true
  debug_trajectory_details: true
  publish_cost_grid_pc: true

  trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator
  # velocities
  min_vel_x: 0.0
  max_vel_x: 0.42
  min_vel_y: 0.0
  max_vel_y: 0.0
  max_vel_theta: 2.2
  # acceleration
  acc_lim_x: 3.88 
  acc_lim_y: 0.0
  acc_lim_theta: 8.7 
  # deceleration
  decel_lim_x: -4.2 
  decel_lim_y: 0.0
  decel_lim_theta: -10.7 #-3.5
  # absolute speeds (in either direction)
  min_speed_xy: 0.0
  max_speed_xy: 0.42
  min_speed_theta: 0.0



  goal_checker_name: dwb_plugins::SimpleGoalChecker
  xy_goal_tolerance: 0.2
  yaw_goal_tolerance: 0.5

  vx_samples: 10
  vtheta_samples: 20
  sim_time: 2.5
  use_sim_time: False
  debug_trajectory_details: True

  linear_granularity: 0.25
  angular_granularity: 0.25
   critics:
  # - PreferForward
   - RotateToGoal
  - Oscillation
   # - GoalAlign
   # - PathAlign
   - PathDist
   - GoalDist
   - ObstacleFootprint

  footprint: [[0.23,0.23],[-0.23,0.23],[-0.23,-0.23],[0.23,-0.23]]

   ObstacleFootprint:  
     scale: 0.01  
     max_scaling_factor: 0.2  
     scaling_speed: 0.25


  # # PreferForward critic
  # PreferForward:
  #   backward_cost: 1.0
  #   forward_cost: 0.0
  #   scale: 0.0

  # # RotateToGoal critic
  RotateToGoal:
     xy_goal_tolerance: 0.2
     trans_stopped_velocity: 0.1
     slowing_factor: 5.0
     lookahead_time: -1.0
     scale: 5.0


  # # Oscillation critic
   Oscillation:
    x_only_threshold: 0.05
    oscillation_reset_dist: 0.05
     oscillation_reset_angle: 0.2
     oscillation_reset_time: -1.0
     scale: 0.05
   PathDist:  
     scale: 32.0 
   GoalDist:  
     scale: 24.0  
  # PathAlign:  
  #   scale: 0.0  
  #   forward_point_distance: 0.325  
  # GoalAlign:  
  #   scale: 0.0