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Finally velocities are not constant even with dwa:true, so trajectories aren't circular. So dwa:true also executes the TR algorithm but in a shorter time. This does not happen in dwa_local_planner.

Try navigation_stage and modify the trajectory_planer.cpp before computeNewVelocitiess:

if(vx_samp!=vx_i && vx_i!=0) ROS_DEBUG("num_steps:%d, sampled candidate vel:%lf, step simvel: %lf",num_steps, vx_samp, vx_i );