The robot does not follow path proper if goal in /map frame

Hello, I'm running `ROS Kinetic` in `Ubuntu 16.04` on `Lattepanda`. I want to send my robot to goal in `/map` frame. When I do this I have warning message: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.9997 seconds And my robot goes to goal not straight but like snake around path. CPU not loaded.  Also when I change `global_frame` from `/map` to `/odom` in `global_costmap_params.yaml` everything was fine. Not warnings and robot follow path correctly, but my goal move with `/odom` frame. My localization node make transform `/map` to `/odom` and goal position depends on it. I want to fix my goal in `/map` frame. I don't provide static map. I want to navigate my robot without map. I use IMU with magnetometer, encoders, GPS. To get localization I use `robot_localization` and `navsat_transform` node for `base_footprint -> odom` and `odom -> map` transforms. To simplify robot testing I generate empty laserscan data. **move_base.launch** **move_base_params.yaml** shutdown_costmaps: false controller_frequency: 5.0 controller_patience: 3.0 planner_frequency: 0.0 planner_patience: 2.0 max_planning_retries: -1.0 conservative_reset_dist: 3.0 recovery_behavior_enabled: true clearing_rotation_allowed: true oscillation_timeout: 0.0 oscillation_distance: 0.1 recovery_behaviors: [ {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}] base_local_planner: "dwa_local_planner/DWAPlannerROS" base_global_planner: "global_planner/GlobalPlanner" **common_costmap_params.yaml** footprint: [[0.17, 0.15], [-0.17, 0.15], [-0.17, -0.15], [0.17, -0.15], [0.25, 0]] map_type: costmap inflation_layer: enabled: true inflation_radius: 0.4 cost_scaling_factor: 15 static_layer: enabled: true unknown_cost_value: -1 lethal_cost_threshold: 253 map_topic: map first_map_only: false subscribe_to_updates: false track_unknown_space: false use_maximum: false trinary_costmap: true #(bool, default: true) obstacle_layer: enabled: true max_obstacle_height: 0.60 track_unknown_space: false footprint_clearing_enabled: true combination_method: 0 observation_sources: scan scan: { data_type: LaserScan, topic: scan, observation_persistence: 0.0, expected_update_rate: 0.0, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 0.5, obstacle_range: 2.5, raytrace_range: 3.0 } **global_costmap_params.yaml** global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 0.5 publish_frequency: 0.5 static_map: false transform_tolerance: 5.0 rolling_window: true width: 20.0 height: 20.0 resolution: 0.2 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} **local_costmap_params.yaml** local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 1.0 static_map: false transform_tolerance: 0.5 rolling_window: true width: 2.0 height: 2.0 resolution: 0.05 plugins: - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer" **dwa_local_planner_params.yaml** DWAPlannerROS: # Robot Configuration Parameters acc_lim_x: 0.5 # maximum is theoretically 2.0, but we acc_lim_y: 0.0 # diff drive robot acc_lim_theta: 1.0 acc_limit_trans: 0.5 max_trans_vel: 0.08 # choose slightly less than the base's capability min_trans_vel: 0.02 # this is the min trans velocity when there is negligible rotational velocity max_vel_x: 0.08 min_vel_x: -0.03 max_vel_y: 0.0 min_vel_y: 0.0 max_rot_vel: 0.8 min_rot_vel: 0.3 # Goal Tolerance Parameters yaw_goal_tolerance: 0.3 xy_goal_tolerance: 0.3 latch_xy_goal_tolerance: true # Forward Simulation Parameters sim_time: 3.0 vx_samples: 6 vy_samples: 1 vtheta_samples: 20 # Trajectory Scoring Parameters path_distance_bias: 64.0 goal_distance_bias: 24.0 occdist_scale: 0.50 forward_point_distance: 0.325 stop_time_buffer: 0.2 scaling_speed: 0.25 max_scaling_factor: 0.2 publish_cost_grid: true # Oscillation Prevention Parameters oscillation_reset_dist: 0.4 Maybe someone know why it is happens? And what can I do to fix this problem?