Circular motion in navigation stack
I have a turtlebot setup in gazebo with an empty map and using move_base for navigation. The robot if given a goal to move to within the viewing range of the kinect the robot goes straight to the goal (as it should in an empty map) But if the goal given to the robot is behind the robots back (outside the viewing range) then the robots take a circular motion trajectory towards the goal, which seems like the robot is scanning for obstacles inside an empty map. Couldn't figure out whats wrong. Any clues?