Unable to avoid obstacles & robot can't go in a straight line using ros-kinetic, move_base, and SLAM_gmapping.

Attempting to use the ros navigation stack for autonomy. I'm able to get Laserscan information in rviz, but unable to avoid obstacles using the rplidar, SLAM_gmapping, and move_base. When giving the robot a 2d nav_goal in rviz the robot shifts right and left then fails to go in a straight line. Any feedback would be appreciated. Most of the necessary files are below! gmapping.launch move_base.launch move_base.yaml shutdown_costmaps: false track_unkown_sources: true controller_frequency: 5.0 controller_patience: 15.0 planner_frequency: 2.0 planner_patience: 2.0 oscillation_timeout: 0.0 oscillation_distance: 0.5 recovery_behavior_enabled: true clearing_rotation_allowed: true base_local_planner.yaml TrajectoryPlannerROS: # Robot Configuration Parameters # Set the aceleration limits of the robot acc_lim_x: 2.5 acc_im_y: 0.0 # The rotational acceleration limit of the robot (default setting) acc_lim_theta: 3.2 # Set the velocity limits of the robot max_vel_x: 2.0 min_vel_x: -2.0 max_vel_theta: 4.0 min_vel_theta: -4.0 max_rotational_vel: 1.0 min_in_place_rotational_vel: 2.0 min_in_place_vel_theta: 2.0 y_vels: [0, 0, 0, 0] # The velocity the robot will command when trying to escape from a stuck situation escape_vel: -1.0 holonomic_robot: false # Goal Tolerance Default Parameters yaw_goal_tolerance: 0.05 xy_goal_tolerance: 0.10 latch_xy_goal_tolerance: false # Forward Simulation Parameters sim_time: 1.5 sim_granularity: 0.025 angular_sim_granularity: 0.02 vx_samples: 15.0 vtheta_samples: 20.0 controller_frequency: 10.0 # Trajectory scoring parameters meter_scoring: true occdist_scale: 0.1 pdist_scale: 0.75 heading_lookahead: 0.325 heading_scoring: false heading_scoring_timestep: 0.8 dwa: false simple_attractor: false publish_cost_grid_pc: true oscillation_reset_dist: 0.05 escape_reset_dist: 0.1 escape_reset_theta: 0.1 costmap_common_params.yaml map_type: costmap_2d origin_z: 0.0 z_resolution: 1 z_voxels: 2 obstacle_range: 2.5 raytrace_range: 3.0 publish_voxel_map: false transform_tolerance: 0.5 meter_scoring: true footprint: [[-0.21, -0.165], [-0.21, 0.165], [0.21, 0.165], [0.21, -0.165]] footprint_padding: 0.1 observation_sources: laser_scan_sensor laser_scan_sensor: [sensor_frame: /laser , data_type: LaserScan, topic: /scan, marking: true, clearing: true] plugins: - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflater_layer, type: "costmap_2d::InflationLayer"} obstacles_layer: observation_sources: scan enabled: true scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: -2.0, max_obstacle_height: 2.0, obstacle_range: 2.5, raytrace_range: 3.0} inflater_layer: enabled: true cost_scaling_factor: 5.0 inflation_radius: 0.10 local_costmap_params.yaml local_costmap: global_frame: "map" robot_base_frame: "base_link" tansform_tolerance: 0.2 update_frequency: 1.0 publish_frequency: 10.0 width: 15.0 height: 15.0 resolution: 0.05 origin_x: 0.0 origin_y: 0.0 static_map: false rolling_window: true always_send_full_costmap: false plugins: #- {name: static_layer, type: "costmap_2d::StaticLayer"}# - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflater_layer, type: "costmap_2d::InflationLayer"} ##static_layer: ##unknown_cost_value: -1.0 ##lethal_cost_threshold: 100 ##map_topic: "map" ##first_map_only: false ##subscribe_to_updates: false ##track_unknown_space: true ##use_maximum: false ##trinary_costmap: true obstacles_layer: track_unknown_space: false footprint_clearing_enabled: true inflater_layer: inflation_radius: 0.10 cost_scaling_factor: 5.0 global_costmap_params.yaml global_costmap: global_frame: "map" robot_base_frame: "base_link" tansform_tolerance: 0.2 update_frequency: 1.0 publish_frequency: 10.0 width: 15.0 height: 15.0 resolution: 0.05 origin_x: 0.0 origin_y: 0.0 static_map: true rolling_window: false always_send_full_costmap: false plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflater_layer, type: "costmap_2d::InflationLayer"} static_layer: unknown_cost_value: -1.0 lethal_cost_threshold: 100 map_topic: "map" first_map_only: false subscribe_to_updates: false track_unknown_space: true use_maximum: false trinary_costmap: true obstacles_layer: track_unknown_space: false footprint_clearing_enabled: true inflater_layer: inflation_radius: 0.10 cost_scaling_factor: 5.0