teb_local_planner attempting to drive through wall

Hello! I'm currently trying to use teb_local_planner to get my robot to navigate through the willow garage simulation. However, I have the issue that in specific situations the local path planning attemtps to drive through the wall. Ofcourse, this doesn't work and it figures that out quite quickly. After a while though, it attempts to go through the wall again. This sometimes loops for over 2 minutes. I have a [video](https://streamable.com/la26v) where you can see it happen two times. I'm using mostly the default settings from navigation stack as you can see in the code-quotes below. Can anyone help me figure out why the local costmap is trying to drive through walls sometimes (and gets stuck in a loop of switching in between trying to drive through wall and the actual route it should take) launch file: costmap_common_params.yaml obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, -0.20]] #robot_radius: ir_of_robot inflation_radius: 1 observation_sources: scan scan: {data_type: LaserScan, expected_update_rate: 0.4, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08} cost_scaling_factor: 1 base_local_planner_params.yaml TebLocalPlannerROS: odom_topic: odom # Trajectory teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 global_plan_overwrite_orientation: True max_global_plan_lookahead_dist: 3.0 feasibility_check_no_poses: 5 # Robot max_vel_x: 0.4 max_vel_x_backwards: 0.05 #0.2 by default max_vel_theta: 0.3 acc_lim_x: 0.5 acc_lim_theta: 0.5 min_turning_radius: 0.0 # diff-drive robot (can turn on place!) footprint_model: type: "point" # GoalTolerance xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.1 free_goal_vel: False # Obstacles min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point". include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.0 obstacle_poses_affected: 30 costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.1 weight_max_vel_x: 2 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 1 weight_kinematics_turning_radius: 1 weight_optimaltime: 1 weight_obstacle: 50 weight_dynamic_obstacle: 10 # not in use yet # Homotopy Class Planner enable_homotopy_class_planning: True enable_multithreading: True simple_exploration: False max_number_classes: 4 selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_keypoint_offset: 0.1 global_costmap_params.yaml global_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 5.0 static_map: true 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: 6.0 height: 6.0 resolution: 0.05