Move Base Rotates

Move base configuration for "Move base rotating instead of moving straight ahead"

navigation_global/config/local_costmap_params.yaml
-------------------------

local_costmap:
    publish_voxel_map: true
    global_frame: odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true
    width: 100.0
    height: 100.0
    resolution: 0.5
    origin_x: -1.0
    origin_y: -1.0

navigation_global/config/global_costmap_params.yaml
----------------

global_costmap:
    publish_voxel_map: true
    global_frame: odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 0.0
    static_map: true
    rolling_window: false

navigation_global/config/base_local_planner_params.yaml
----------

TrajectoryPlannerROS:
    # Robot Configuration Parameters
    acc_lim_x: 1.5
    acc_lim_y: 1.5
    acc_lim_th: 2.0
    max_vel_x: 0.50
    min_vel_x: 0.25
    max_rotational_vel: .25
    min_in_place_rotational_vel: 0.20
    backup_vel: -0.1
    holonomic_robot: false

    # Goal Tolerance Parameters
    xy_goal_tolerance: 0.5
    yaw_goal_tolerance: 6.29

    # 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

navigation_config/move_base_params.yaml
---

footprint: [[1.265, 0.9],
            [1.265, -0.9],
            [-0.405, -0.8],
            [-1.265, -0.1],
            [-1.265, 0.1],
            [-0.405, 0.8],]

controller_frequency: 25.0
controller_patience: 15.0
clearing_radius: 8.0
footprint_padding: 0.03


navigation_config/costmap_common_params.yaml
--------

map_type: costmap
transform_tolerance: 0.3
obstacle_range: 10.0
raytrace_range: 3.0
inflation_radius: 8 //has to fine tune the parameter

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser,
                    data_type: LaserScan,
                    topic: /scan,
                    expected_update_rate: 0.2,
                    observation_persistence: 0.0,
                    marking: true,
                    clearing: true,
                    min_obstacle_height: 0.20,
                    max_obstacle_height: 2.5}