I have a robot running the navigation stack and after I have set the initial position in rviz and set the goal the robot will rotate for some time and execute the velocity set in the escapevel parameter until it gets stuck or bumps into something i have tried setting the oscillationtimeout parameter in the baselocalplanner to 5.0 but it has little to no effect

also getting these warnings

[ WARN] [1654284674.116926539]: Map update loop missed its desired rate of 30.0000Hz... the loop actually took 3.8550 seconds
[ WARN] [1654284678.175430810]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 4.0620 seconds

I followed this guide:

https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot/

baselocalplanner:

TrajectoryPlannerROS:

  max_vel_x: 1.00
  min_vel_x: 0.70
  max_vel_theta: 0.20
  min_vel_theta: -0.20
  min_in_place_vel_theta: 0.60
  oscillation_timeout: 5.0
  escape_vel: -0.76
  acc_lim_x: 1.7
  holonomic_robot: false
  meter_scoring: true
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.35
  sim_time: 4.0
  vx_samples: 10