Hi, I have a problem using the navigation stack. Everything is set up but I noticed that move_base only send velocities that have all zeroes as values for some time and then abort the plan because it says the robot appears stuck. This is the error I get:

[ WARN] [1642850369.065890614, 1625.003000000]: Clearing both costmaps to unstuck robot (1.84m).
[ WARN] [1642850369.468946798, 1625.153000000]: Rotate recovery behavior started.
[ERROR] [1642850369.469160023, 1625.153000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1642850369.978050469, 1625.302000000]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

The problem appear with every goal I send, the only movement I get is when the robot execute the escape route and apply a negative velocity.

These are my parameters files:

Base local planner:

TrajectoryPlannerROS:
  max_vel_x: 1.0
  min_vel_x: 0.5
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 2
  acc_lim_x: 1

  escape_vel: -0.305

  holonomic_robot: false

  xy_goal_tolerance:  0.20
  yaw_goal_tolerance: 0.20

  sim_time: 3.0
  sim_granularity: 0.07
  vx_samples: 3
  vtheta_samples: 3
  vtheta_samples: 20

  goal_distance_bias: 0.3
  path_distance_bias: 0.5
  occdist_scale: 0.01
  heading_lookahead: 0.325
  dwa: true

  oscillation_reset_dist: 0.05
  meter_scoring: true

Costmap common params

obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[0.21, 0.22], [0.21, -0.22], [-0.21, -0.22], [-0.21, 0.22]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

transform_tolerance: 0.5

controller_patience: 2.0

NavfnROS:
    allow_unknown: true

recovery_behaviors: [
    {name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
    {name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}

]

conservative_clear: 
    reset_distance: 3.00
aggressive_clear:
    reset_distance: 1.84

Global costmap

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 0.5
  publish_frequency: 0.5
  static_map: true

Local costmap params

local_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.05

  transform_tolerance: 0.5

  observation_sources: point_cloud_sensor

  point_cloud_sensor: {
    sensor_frame: zed2_camera_center,
    data_type: PointCloud2, 
    topic: pointCloud_topic, 
    expected_update_rate: 0.5, 
    marking: true, 
    clearing: true,
    min_obstacle_height: -99999.0,
    max_obstacle_height: 50,
  }

I am using the simulated environment provided by leo https://www.leorover.tech/integrations/erc-gazebo Rtabmap is used to get the an occupancyGrid map from the camera images and it looks quite right by looking at it from rviz.

Looking at the maps the robot doesn't look stuck, in the following image the global costmap is represented as circles around the obstacles, while the local costmap is the cone in front of the robot.

Local and global costmap