I have made few changes to your move base configuration files:
Global costmap:
global_costmap:
global_frame: map
update_frequency: 0.5
publish_frequency: 1.5
transform_tolerance: 1.0
width: 16
height: 16
origin_x: -8
origin_y: -8
static_map: true
rolling_window: true
inflation_radius: 0.0
cost_scaling_factor: 10.0
resolution: 0.01
Parameter resolution defines the grid where planner should search for possible path. When it is set to 1, path will be aligned to 1 meter grid, this value should be definitely smaller.
Parameter rolling_window defines if costmap should follow robot. Otherwise it will be resized to map dimensions. Due to the fact that your map has resolution of 1 meter, costmap can not be resized to it or it will behave like resolution was set to 1.
Local costmap:
local_costmap:
global_frame: map
update_frequency: 2.5
publish_frequency: 2.5
transform_tolerance: 1.0
static_map: false
rolling_window: true
width: 3
height: 3
origin_x: -1.5
origin_y: -1.5
resolution: 0.01
inflation_radius: 0.0
cost_scaling_factor: 10.0
Costap with rolling_window enabled should have its center in robot position, thus origin is moved by -1.5 on both axes.
Trajectory planner:
TrajectoryPlannerROS:
max_vel_x: 0.1
min_vel_x: 0.05
max_vel_theta: 2.5
min_vel_theta: -2.5
min_in_place_vel_theta: 0.5
acc_lim_theta: 1.0
acc_lim_x: 1.5
acc_lim_Y: 1.5
holonomic_robot: false
meter_scoring: true
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 0.5
vx_samples: 6
vtheta_samples: 20
controller_frequency: 0.5
occdist_scale: 0.01
pdist_scale: 0.4
gdist_scale: 0.2
path_distance_bias: 0.4
goal_distance_bias: 0.2
Parameter xy_goal_tolerance defines how far from destination planner should consider it as achieved. Distance is in meters.
Parameter yaw_goal_tolerance is analogous to xy_goal_tolerance but for angular position, unit is radian.
Regards,
Łukasz