configuring DWA navigation correctly

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I am wrestling to get the DWA planner work (Noetic, Ros1)

Things that already work:

• My C++ code generates transforms and RViz accepts them without errors

• With the 2D-Nav_Goal arrow in Rviz, I can make a path and the navigator generates twist commands

  I checked that driving forward corresponds with positive x velocity, and a counterclockwise curve corresponds with a positive rotation z.

• In my Rviz settings: FixedFrame = map, ReferenceFrame = FixedFrame, Map = /map, LocalPlanner =
  move_base/DWAPlanner/ROS/local_plan, LocalCostmap =
  /move_base/local_costmap/costmap,
  GlobalPlanner =
  /move_base/DWAPlanner/ROS/global_plan, Laser = /scan.

I am having configuration problems:

.1 The navigation does not obey the max velocities I define in: my_costmap_common_params.yaml and the navigator generates twist messages with both x and y velocities although I have set holonomic_robot to false (differential robot cannot drive sidewise). What is the correct file and way to define these parameters so that DWA Planner gets it?

my_base_local_planner_params.yaml:

TrajectoryPlannerROS:
  max_vel_x: 0.20
  min_vel_x: -0.20
  max_vel_y: 0.0
  min_vel_y: 0.0
  max_vel_theta: 0.4
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 0.5
  acc_lim_x: 0.5
  acc_lim_y: 0.5

  holonomic_robot: false

my_move_base.launch:

    <launch>
       <master auto="start"/>
     <!-- Run the map server --> 
        <node name="map_server" pkg="map_server" type="map_server" args="$(find robot)/maps/mymap.pgm 0.1"/>

        <include file="$(find amcl)/examples/amcl_diff.launch" />    

       <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
         <rosparam file="$(find robot)/config/my_costmap_common_params.yaml" command="load" ns="global_costmap" /> 
         <rosparam file="$(find robot)/config/my_costmap_common_params.yaml" command="load" ns="local_costmap" />
         <rosparam file="$(find robot)/config/my_local_costmap_params.yaml" command="load" />
         <rosparam file="$(find robot)/config/my_global_costmap_params.yaml" command="load" /> 
         <rosparam file="$(find robot)/config/my_base_local_planner_params.yaml" command="load" />   

        <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />  
        <param name="controller_frequency" value="5.0" />
        <param name="controller_patience" value="15.0" />   
      </node>  
   <!-- from ROS call Rviz with config settings at the local file: -->
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot)/config/my_rviz.rviz" required="true" />
</launch>

.2: sometimes after a while in Rviz, RobotFootprint goes in error: "For frame [odom]: No transform to fixed frame[map]". Anything wrong or incomplete in my configuration? This error only happens sometimes. my_costmap_common_params.yaml:

obstacle_range: 2.0
raytrace_range: 3.0
footprint: [[-0.3, -0.4], [-0.3, 0.36], [0.3, 0.36], [0.3, -0.4]]
#robot_radius: 0.35
inflation_radius: 0.2
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}