Real Robot and Rviz path is not matching

Hi Good morning everyone!! I hope my question/query is not duplicated. If it is, I am really really sorry. I tried checking the answers similiar to my query but I couldn't find it. Any help would be highly appreciated. I have a customized robot which I am trying to move it autonomously in my workshop. I am using amcl and move-base algorithm. **The problem is when I am watching on rviz, its perfectly moving and planning path. But my customized robot is not even moving more than few centimeters.** I am using: (1) **ROS Kinetic** (2) **Ubuntu 16.04 LTS on Jetson TX2** (3) **RP Lidar A1** (4) **Arduino UNO for sending motor command via STM32F0-Discorvery board (CAN bus) to RoboteQ motor controller**. I am getting this warning messages [ WARN] [1520556177.779801584]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.5349 seconds [ WARN] [1520556178.214556518]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.5679 seconds This is my cmd_vel plot: https://www.dropbox.com/s/x67lhcx2qf97h2o/cmd_vel.png?dl=0 Here are my launch files and configuration files: (1) navigate.launch 2) amcl.launch 3) move_base.launch 4) laser.launch 5) costmap_common_params.yaml # Customized for ArloBot max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[-0.45, -0.35], [-0.45, 0.35], [0.45,0.35], [0.45,-0.35]] # if the robot is not circular inflation_radius: 0.50 # max. distance from an obstacle at which costs are incurred for planning paths. cost_scaling_factor: 5 # exponential rate at which the obstacle cost drops off (default: 10) # voxel map configuration; z-voxels 0 are filled by bumpers and 1 by laser scan (kinect) map_type: voxel origin_z: 0.0 z_resolution: 0.2 z_voxels: 2 publish_voxel_map: false observation_sources: scan bump #observation_sources: scan # scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35} scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 3} # Can we just set up two of these here? bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15} 6) global_costmap_params.yaml global_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 1.0 publish_frequency: 0.5 static_map: true transform_tolerance: 0.5 7) local_costmap_params.yaml local_costmap: global_frame: odom robot_base_frame: /base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 50.0 height: 50.0 resolution: 0.05 transform_tolerance: 0.5 plugins: - {name: static_map, type: "costmap_2d::StaticLayer"} - {name: obstacles, type: "costmap_2d::VoxelLayer"} publish_frequency: 1.0 obstacles: observation_sources: base_scan base_scan: {data_type: LaserScan, sensor_frame: laser, clearing: true, marking: true, topic: /scan} 8) base_local_planner_params.yaml TrajectoryPlannerROS: # Robot Configuration Parameters max_vel_x: 0.3 min_vel_x: 0.1 max_vel_theta: 1.0 min_vel_theta: -1.0 min_in_place_vel_theta: 0.6 acc_lim_x: 0.5 acc_lim_theta: 1.0 # Goal Tolerance Parameters yaw_goal_tolerance: 0.3 xy_goal_tolerance: 0.5 # Forward Simulation Parameters sim_time: 1.0 vx_samples: 15 vtheta_samples: 20 # Trajectory Scoring Parameters meter_scoring: true pdist_scale: 0.0 gdist_scale: 0.8 occdist_scale: 0.01 heading_lookahead: 0.325 dwa: true # Oscillation Prevention Parameters oscillation_reset_dist: 0.05 # Differential-drive robot configuration holonomic_robot: false max_vel_y: 0.5 min_vel_y: 0.0 acc_lim_y: 0.0 vy_samples: 1 9) dwa_local_planner_params.yaml DWAPlannerROS: # Robot Configuration Parameters - Kobuki max_vel_x: 0.5 # 0.55 min_vel_x: 0.0 max_vel_y: 0.5 # diff drive robot min_vel_y: 0.0 # diff drive robot max_trans_vel: 0.5 # choose slightly less than the base's capability min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity trans_stopped_vel: 0.1 # Warning! # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities # are non-negligible and small in place rotational velocities will be created. max_rot_vel: 5.0 # choose slightly less than the base's capability min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity rot_stopped_vel: 0.4 acc_lim_x: 1.0 # maximum is theoretically 2.0, but we acc_lim_theta: 2.0 acc_lim_y: 0.0 # diff drive robot # Goal Tolerance Parameters yaw_goal_tolerance: 0.3 # 0.05 xy_goal_tolerance: 0.15 # 0.10 # latch_xy_goal_tolerance: false # Forward Simulation Parameters sim_time: 1.0 # 1.7 vx_samples: 15 # 3 vy_samples: 1 # diff drive robot, there is only one sample vtheta_samples: 20 # 20 # Trajectory Scoring Parameters path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan goal_distance_bias: 10.0 # 24.0 - wighting for how much it should attempt to reach its goal occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. # Oscillation Prevention Parameters oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags # Debugging publish_traj_pc : true publish_cost_grid_pc: true global_frame_id: odom # Differential-drive robot configuration - necessary? # holonomic_robot: false 10) move_base_params.yaml # Move base node parameters. For full documentation of the parameters in this file, please see # # http://www.ros.org/wiki/move_base # shutdown_costmaps: false controller_frequency: 5.0 controller_patience: 3.0 planner_frequency: 1.0 planner_patience: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2 # local planner - default is trajectory rollout base_local_planner: "dwa_local_planner/DWAPlannerROS"