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I don´t think this problem is caused by the shape of the robot, it seems more like your robot is performing some kind of recorvery behaviour (e.g. turning in place). I recommend to visualize all costmaps and laser scans to check if it is a problem of your localization and if your sensors are correctly configured (e.g. did you define the laser scanner (or another sensor) in the costmap_commons.yaml)?

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