my dwa local planner is acting crazy, when given a goal path, the global planner is giving a proper path, where the local planner is not following it properly.

and it always moving in an opoosite direction, for example, if a goal is given on left to the robot, the global path is given proper to the left. bu where the local planner moving oppostie to the global planner, where it making the robot move right.

DWAPlannerROS:

Robot Configuration Parameters

maxvelx: 0.22 minvelx: -0.22

maxvely: 0.0 minvely: 0.0

The velocity when robot is moving in a straight line

maxveltrans: 0.22 minveltrans: 0.09

maxveltheta: 2.75 minveltheta: 1.37

acclimx: 2.5 acclimy: 0.0 acclimtheta: 3.2

Goal Tolerance Parametes

xygoaltolerance: 0.05 yawgoaltolerance: 0.17 latchxygoal_tolerance: false

Forward Simulation Parameters

simtime: 1.5 vxsamples: 20 vysamples: 0 vthsamples: 40 controller_frequency: 10.0

Trajectory Scoring Parameters

pathdistancebias: 32.0 goaldistancebias: 20.0 occdistscale: 0.02 forwardpointdistance: 0.325 stoptimebuffer: 0.2 scalingspeed: 0.25 maxscalingfactor: 0.2

Oscillation Prevention Parameters

oscillationresetdist: 0.05

Debugging

publishtrajpc : true publishcostgrid_pc: true