Unable to go straight ahead with move_base

Our robot is just turning on itself, whatever we ask it. It is heavy and has an important inertia. However, the turning direction keeps to be the same. We wonder why it does not go straight ahead. Here is the launch file: Here is `base_local_planner_params.yaml` : controller_frequency: 2.0 TrajectoryPlannerROS: # Robot Configuration Parameters max_vel_x: 0.06 min_vel_x: 0.01 # forward max_vel_theta: 0.02 min_vel_theta: -0.02 min_in_place_vel_theta: 0.01 acc_lim_theta: 0.005 acc_lim_x: 0.01 acc_lim_y: 0.0 holonomic_robot: false # Goal Tolerance Parameters yaw_goal_tolerance: 0.3 xy_goal_tolerance: 0.5 latch_xy_goal_tolerance: true meter_scoring: true Here is `costmap_common_params.yaml`: footprint: [[-0.65, -0.33], [-0.65, 0.33], [0.65, 0.33], [0.65, -0.33]] obstacle_range: 1.5 raytrace_range: 2.0 inflation_radius: 0.45 robot_base_frame: base_footprint width: 20 height: 20 resolution: 0.05 transform_tolerance: 0.8 observation_sources: scan scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true} Here is `global_costmap_param.yaml`: global_costmap: global_frame: /map robot_base_frame: /base_footprint update_frequency: 1.5 publish_frequency: 1.0 static_map: true transform_tolerance: 1.0 resolution: 0.1 Here is `local_costmap_param.yaml`: local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 1.5 publish_frequency: 1.0 static_map: false rolling_window: true width: 6.0 height: 6.0 Here is a [bagfile](https://drive.google.com/open?id=1YFhWHhP6ewiF8oQcunXVo3GOE1iNbUXD).