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Navigation Stack -Error

I have been using the Segbot Navigation package to navigate our robot through office work spaces with cubicles and rooms. It sometimes has problem navigating through narrow aisles and doorways (not always very consistent). I have attached a file with some of the error/warning messages I am getting.

After going through navigation stack literature, I feel 'obstacle range' in the Costmap configuration is one of the parameters I could change. Please let me know if you have suggestions/recommendations regarding any other parameters that I could modify to improve the performance.

I feel the map we are getting is pretty good . Will manually modifying it improve the performance ? %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

WARN] [1411756064.480605628]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 5 in collision. Plan invalid %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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Navigation Stack -Error

I have been using the Segbot Navigation package to navigate our robot through office work spaces with cubicles and rooms. It sometimes has problem navigating through narrow aisles and doorways (not always very consistent). I have attached a file with some of the error/warning messages I am getting.

After going through navigation stack literature, I feel 'obstacle range' in the Costmap configuration is one of the parameters I could change. Please let me know if you have suggestions/recommendations regarding any other parameters that I could modify to improve the performance.

I feel the map we are getting is pretty good . Will manually modifying it improve the performance ? %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%?

 WARN] [1411756064.480605628]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 5 in collision. Plan invalid 
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[ WARN] [1411756064.480653208]: Failed to add frames to existing band [ WARN] [1411756064.824642032]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2956 seconds [ WARN] [1411756064.880660273]: Calculation of Distance between bubble and nearest obstacle failed. Frame 105 of 130 in collision. Plan invalid [ WARN] [1411756064.880743612]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization [ERROR] [1411756064.880786228]: Setting plan to Elastic Band method failed! [ERROR] [1411756064.880828885]: Failed to pass global plan to the controller, aborting. [ WARN] [1411756064.480605628]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 5 in collision. Plan invalid [ WARN] [1411756064.480653208]: Failed to add frames to existing band [ WARN] [1411756064.824642032]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2956 seconds [ WARN] [1411756064.880660273]: Calculation of Distance between bubble and nearest obstacle failed. Frame 105 of 130 in collision. Plan invalid [ WARN] [1411756064.880743612]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization [ERROR] [1411756064.880786228]: Setting plan to Elastic Band method failed! [ERROR] [1411756064.880828885]: Failed to pass global plan to the controller, aborting. [ INFO] [1411756192.792013719]: Global plan set to elastic band for optimization [ WARN] [1411756201.242162218]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid [ WARN] [1411756201.242268942]: Failed to add frames to existing band [ INFO] [1411756201.291943229]: Global plan set to elastic band for optimization [ WARN] [1411756202.241923475]: Optimization failed - Band invalid - No controls availlable [ INFO] [1411756202.292122263]: Global plan set to elastic band for optimization [ WARN] [1411756217.241859529]: Optimization failed - Band invalid - No controls availlable [ INFO] [1411756217.291952232]: Global plan set to elastic band for optimization [ WARN] [1411756218.641859635]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid [ WARN] [1411756218.641931723]: Failed to add frames to existing band [ INFO] [1411756218.691938193]: Global plan set to elastic band for optimization [ WARN] [1411756219.591840715]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid [ WARN] [1411756219.591897692]: Failed to add frames to existing band [ INFO] [1411756219.641959228]: Global plan set to elastic band for optimization [ WARN] [1411756223.841820722]: Optimization failed - Band invalid - No controls availlable [ WARN] [1411756223.891952513]: Calculation of Distance between bubble and nearest obstacle failed. Frame 79 of 96 in collision. Plan invalid [ WARN] [1411756223.892017305]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization [ERROR] [1411756223.892063528]: Setting plan to Elastic Band method failed! [ERROR] [1411756223.892101993]: Failed to pass global plan to the controller, aborting.