The robot jerks in place

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I'm using this package on my own robot with YDLidar X4 without IMU. Looks like it works but sometimes when robot reaches its goal it begins to rotate left and right on a small angle. And the robot will not stop doing this until it is given a new goal. What can be the reason? Maybe you know the parameter in move_base that is to blame for this? Or is it because I don't have imu? Any help will welcome.