Error on navstack with P3DX robot: "Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"

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Hi

I have used the Navigation Stack before on a P3AT and am now attempting to run a new setup on Pioneer P3DX. In doing so, I have read through the following ROS Navigation Setup page:

http://www.ros.org/wiki/navigation/Tutorials/RobotSetup

Setup

My setup and requirements do differ from that described on the above page. My setup requires me to not use a pre-made map, but to simultaneously localize and map a new area. I have chosen a relatively simple office space to test this. I am using Gmapping for this purpose. I am not using AMCL as described in the above tutorial.

Related Questions

I have read through the following related questions:

1. http://answers.ros.org/question/407/exploration-stack-on-p3dx : I have read through this and checked the similarities, the difference is that I am using Gmapping and not AMCL. I plan to attempt AMCL as a last alternative.
2. http://ros-users.122217.n3.nabble.com/Navigation-Stack-the-robot-rotates-most-of-the-time-after-receiving-a-goal-td1471418.html#a1528873 : The laser does move along with the turning of the robot, and in conjunction with the map data. You will also find tf/view_frames data in a later section.
3. http://answers.ros.org/question/482/setting-up-navigation-stack-on-p3dx : Read through this, and no errors present here are present for me.
4. http://ros-users.122217.n3.nabble.com/Navigation-stack-robot-starts-rotating-upon-recieving-goal-td819551.html#a819551: This seems like a similar problem: I don't have any unknown space in the path of the robot (Check rviz screenshots later), raytrace_range>obstacle_range (also shown later), rolling_window=true.

Test Procedure

1. Run Motor Driver: Output: http://pastebin.com/5qT1mEtp
2. Run Laser Driver: Output: http://pastebin.com/keQ2rDrw
3. Publish tf data from base_link to laser: Code: http://pastebin.com/9AZVkHmf
4. Run Gmapping: Output: http://pastebin.com/iY9ZCWtu
5. Run Navigation: Output: http://pastebin.com/HNF7p1nK (More data follows)
6. Run Rviz : (More data follows)
7. Run TF view_frames: Output : http://tinypic.com/r/34ooe4l/5
8. Send simple navigation goal: Code : http://pastebin.com/MqGNqZe6

Observed behavior

Robot rotated around once and then stopped. A few seconds the message seen in the "Run Navigation" output appeared.

Additional Data

1. Run Navigation:
   1. The launch file for running the navigation stack is : http://pastebin.com/1nSM0jmf
   2. The additional configuration files are: base_local_planner_params, costmap_common_params, global_costmap_params, local_costmap_params, recover_behaviors.
2. Some screenshots of RVIZ: (Red indicates the laser scan, Dark Orange are the local costmap obstacles, Light Orange are the local costmap inflated obstacles, Green is unexplored space). I have attached different screenshots with various angles, and with and without the unexplored spaces and the obstacles, in an effort that someone might see a detail that I overlooked. link, link, link, link, link, link.

Hope the post was clear, and that I get some feedback!

Thank you, Shanker Keshavdas (DFKI, Saarbruecken, Germany) the e

UPDATE: Following Eric Perko's advice and changing the topic that the motor drivers were publishing on from /pose to /odom did have the desired effect. The robot followed a simple navigation goal. However on the next 2 tries a few days later, the error which I reported was ... (more)