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Lorenzo, you should try the "base_local_planner", which was default until cturtle. It does not have this spinning problem at all. The DWA local planner can be fun to watch, but you might be bored of this spinning behavior.

The default configuration file in pr2_navigation_config/move_base/base_local_planner_params.yaml will work well, but if you add the parameter "min_vel_x" to "0.10", the planner will be slightly more robust.