Why dwa planner can't reach the target rotation?

Question

I've commanded the robot to go to the green arrow position/rotation, so it went there and started rotating CCW until it got near the upper wall, then it got stuck in that position. The question is why it don't go a bit forward so it can complete the rotation? Which parameters can be changed so that it better behave in situations like that?

Update: It keeps writing in the logs:

[ INFO] [1501263591.230230037]: Got new plan [ WARN] [1501263591.260831641]: Invalid Trajectory 0.000000, 0.000000, 0.150000, cost: -6.000000 [ WARN] [1501263591.260927725]: Rotation cmd in collision [ INFO] [1501263591.260981225]: Error when rotating.

and after some seconds:

[ERROR] [1501263591.331646239]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

Currently we have recovery_behavior_enabled = true and clearing_rotation_allowed = false

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Originally posted by Vitor on ROS Answers with karma: 41 on 2017-07-27

Post score: 1

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Original comments

Comment by jayess on 2017-07-28:
What's the output at the terminal?

Comment by Vitor on 2017-07-28:
@jayess I've updated the question with console output

Answer 1

I believe it's because you have the clearing_rotation_allowed parameter set to false. It won't rotate to clear the cost map and replan, it'll just give up like you're seeing.

From the wiki, the clearing_rotation_allowed parameter

Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space. Note: This parameter is only used when the default recovery behaviors are in use, meaning the user has not set the recovery_behaviors parameter to anything custom.

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Originally posted by jayess with karma: 6155 on 2017-07-28

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Vitor on 2017-07-31:
I'll try to enable that, but that behavior has given me problems in the past (like colliding with walls). However, I can't understand why it can't finish the move without resorting to the recovery behaviors, as it would be a simple movement to get out of there