Robot is rotating at one place in navigation stack.

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Hello Everyone,

I'm using ROS Noetic and I have completed Odometry test as per the guidelines given in navigation tuning guide. My Lidar laser data is static with both translational as well as in place rotational motion. However when I'm performing navigation stack 2D pose estimate and 2D Nav Goal so my robot continuously rotates at same place rather than moving forward or backward etc. I have check rostopic echo /cmd_vel and there i see angular velocity is publishing to the move_base in autonomous navigation. Kindly help me regarding this issue. Here is my .yaml files:

base_local_planner:

TrajectoryPlannerROS:
  # for details see: http://www.ros.org/wiki/base_local_planner
  odom_topic: odom

  max_vel_x: 0.15
  min_vel_x: 0.10
  max_rotational_vel: 0.1   # 0.8 rad/sec = 5.7 degree/sec ,0.02,0.3,0.05,0.05
  min_in_place_rotational_vel: 0.001
  acc_lim_th: 0.02
  acc_lim_x: 0.05
  acc_lim_y: 0.05
  holonomic_robot: false

  # goal tolerance parameters
  yaw_goal_tolerance: 0.4         # 0.1 means 5.7 degrees 0.4 = yaw, 0.1 = xy
  xy_goal_tolerance: 0.1
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1                          # 1 ,The amount of time to forward-simulate trajectories in seconds
  sim_granularity: 0.025               # The step size, in meters, to take between points on a given trajectory
  angular_sim_granularity: 0.01        # The step size, in radians, to take between angular samples on a given trajectory. 0.01
  vx_samples: 40                       # The number of samples to use when exploring the x velocity space 10
  vtheta_samples: 20                   # The number of samples to use when exploring the theta velocity space 20
  controller_frequency: 10             # The frequency at which this controller will be called in Hz

  # Trajectory Scoring Parameters
  meter_scoring: true              # If true, distances are expressed in meters; otherwise grid cells
  path_distance_bias: 1.0          #  The weighting for how much the controller should stay close to the path it was given
  goal_distance_bias: 0.8          # 0.8 The weighting for how much the controller should attempt to reach its local goal, also controls speed
  occdist_scale: 0.01              # The weighting for how much the controller should attempt to avoid obstacles
                                   # occdist_scale * (maximum obstacle cost along the trajectory in obstacle cost (0-254))
  heading_lookahead: 0.325         # How far to look ahead in meters when scoring different in-place-rotation trajectories 
  heading_scoring: false
  oscillation_reset_dist: 0.05     # How far the robot must travel in meters before oscillation flags are reset
  publish_cost_grid: true
  dwa: true

Dwa_local_planner_params.yaml

DWAPlannerROS:
  # for details see: https://wiki.ros.org/dwa_local_planner
  odom_topic: odom

# Robot Configuration Parameters
  max_vel_x: 0.20
  min_vel_x: 0.10

  max_vel_y: 0.0            # 0 for non-holonomic robot max_rot_vel 1.6, min_rot_vel 0.2, acc_lim_theta 3.2
  min_vel_y: 0.0            # 0 for non-holonomic robot

# The velocity when robot is moving in a straight line
  max_trans_vel:  0.15
  min_trans_vel:  0.10

  max_rot_vel: 0.0
  min_rot_vel: 0.0

  acc_lim_x: 1.0
  acc_lim_y: 0.0
  acc_lim_theta: 0.2 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.1
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 3.0                    # The amount of time to forward-simulate trajectories in seconds
  sim_granularity: 0.025           # The step size, in meters, to take between points on ...