yaw_goal_tolerance not working? [closed]

edit

I know that this question is common but I think that I've looked "all over" for an answer that works so if you have a minute would you mind checking out these config files for the nav stack? Everything seems to be working just great except for the goal achievement. I'm going to say that it gets to the (x,y) component fine but then it rotates back and forth. Ready... Set... Check my yaw_goal_tolerance :-) Just kidding, is it possible that the rotation actions being provided by the local planner are too coarse?

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 10.0
  height: 10.0
  origin_x: 0.0
  origin_y: 0.0
  resolution: 0.05

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 2.0
  publish_frequency: 10.0
  static_map: false
  rolling_window: true

obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.5


#---standard pioneer footprint---

#---(in meters)---
footprint: [ [0.254, -0.0508], [0.1778, -0.0508], [0.1778, -0.1778], [-0.32, -0.1778], [-0.32, 0], [-0.32, 0.1778], [0.1778, 0.1778], [0.1778, 0.0508], [0.254, 0.0508] ]

transform_tolerance: 0.5
map_type: costmap

observation_sources: scan

scan: {
      sensor_frame: base_laser, 
      data_type: LaserScan, 
      topic: scan, 
      marking: true, 
      clearing: true, 
      expected_update_rate: 0.5
      } 

# Robot Configuration Parameters
acc_lim_x: 2.5
acc_lim_y: 2.5
acc_lim_th: 3.2
max_vel_x: 0.5
min_vel_x: 0.1
max_rotational_vel: 1.75
min_in_place_rotational_vel: 0.4
escape_vel: -0.1
holonomic_robot: false

# Goal Tolerance Parameters
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 0.1

# Forward Simulation Parameters
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 20

# Trajectory Scoring Parameters
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: true

# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05

If these settings look rather familiar it's because they're just about copied from the erratic navigation stack. And for completeness I've up'ed the xy_goal_tolerance to 0.5 and the yaw_goal_tolerance to 3.0 without having any improvement.

I saw that someone had an issue where they created a discrepancy between the resolutions of the map and costmaps?

So with that being said here are the parameters I'm feeding to gmapping:

<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.5"/>
<param name="angularUpdate" value="0.436"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="80"/>
<param name="xmin" value="-10.0" />
<param name="ymin" value="-10.0" />
<param name="xmax" value="10.0" />
<param name="ymax" value="10.0" />
<param name="delta" value="0.025"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01 ...