robot starts moving toward the goal,but it cannot identify the objects Infront of it!!

edit

hi everyone,

my problem is about object detection and collision avoidance. when the robot starts moving toward the goal, it cannot identify the objects in Infront of it and hit them. I have defined the inflation_layer, obstacle_height, and footprint of the robot in cost-common-params. we are using 'navfn/NavfnROS' as global_planner and 'dwa_local_planner/DWAPlannerROS' as local_planner. I have attached the related move-base params. I am using rtabmap in mapping mode (SLAM) and i have activated rolling-window as well. so I would be grateful if anybody can help?! thanks

##costmap-common-params:

max_obstacle_height: 2.2  
footprint: [[-0.76, -0.69], [-0.76, 0.69], [0.76, 0.69], [0.76, -0.69]] 

footprint_padding: 0.55
map_type: voxel

voxel_layer:
  enabled:              true
  max_obstacle_height:  2.2
  origin_z:             0.0
  z_resolution:         0.5
  z_voxels:             22
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true    
  obstacle_range: 5.0
  raytrace_range: 3.0
  publish_voxel_map: true

  observation_sources: point_cloud_sensor 
  point_cloud_sensor:
    data_type: PointCloud2
    topic: /velodyne_points
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 2.0

inflation_layer:
  enabled:              true
  cost_scaling_factor:  1.58  
  inflation_radius:     0.9
...............................................................

...............................

#Move_base
    <launch>
      <arg name="odom_frame_id"   default="icp_odom"/>
      <arg name="base_frame_id"   default="base_link"/>
      <arg name="global_frame_id" default="map"/>
      <arg name="odom_topic" default="/rtabmap/odom" />            

      <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/costmap_common_params.yaml" command="load" ns="local_costmap" />   
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/local_costmap_params.yaml" command="load" /> 
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/move_base_params.yaml" command="load" />

        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/navfn_global_planner_params.yaml" command="load" />
        <rosparam file="$(find warthog_sim_2dnav)/para_dynamic_indoor/dwa_local_planner_params.yaml" command="load" />

        <!-- reset frame_id parameters using user input data -->
        <param name="global_costmap/global_frame" value="$(arg global_frame_id)" />
        <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)" />
        <param name="local_costmap/global_frame" value="$(arg odom_frame_id)" />
        <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)" />
        <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)" />

        <param name="base_global_planner" value="navfn/NavfnROS" />
        <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

        <param name="controller_frequency" value="8.0" />
        <param name="controller_patience" value="2.0" />
        <remap from="odom" to="$(arg odom_topic)" />
      </node>
    </launch>



#move-base_params:
#
shutdown_costmaps: false

controller_frequency: 8.0
controller_patience: 2.0

planner_frequency: 5.0 
planner_patience: 1.0   

oscillation_timeout: 10.0
oscillation_distance: 0.2

# local planner - default is trajectory rollout
base_local_planner: "dwa_local_planner/DWAPlannerROS"

base_global_planner: "navfn/NavfnROS" #alternatives:global_planner/GlobalPlanner, carrot_planner/CarrotPlanner

recovery_behavior_enabled: true

recovery_behaviors:
  - name:'super_conservative_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'conservative_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'aggressive_reset1'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'clearing_rotation1'
    type:'rotate_recovery/RotateRecovery'
  - name:'super_conservative_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'conservative_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'aggressive_reset2'
    type:'clear_costmap_recovery/ClearCostmapRecovery'
  - name:'clearing_rotation2'
    type:'rotate_recovery/RotateRecovery'

super_conservative_reset1:
  reset_distance:3.0
conservative_reset1:
  reset_distance:1.5
aggressive_reset1:
  reset_distance:0.0
super_conservative_reset2:
  reset_distance:3.0
conservative_reset2:
  reset_distance:1.5
aggressive_reset2:
  reset_distance:0.0

#local-costmap
local_costmap:
   global_frame: icp_odom
   robot_base_frame: base_link
   update_frequency: 1.0     
   publish_frequency: 2.0     
   static_map: false
   rolling_window: true
   width: 5.0
   height: 5.0
   resolution: 0 ...