2d-navigation-goal robot spinning even when disconnected

Here's my launch file: I did rosrun map_server map_server map so I didn't add map_server to the launch file. base_local: TrajectoryPlannerROS: max_vel_x: 0.45 min_vel_x: 0.1 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 acc_lim_theta: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: true costmap: obstacle_range: 2.5 raytrace_range: 3.0 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]] robot_radius: ir_of_robot inflation_radius: 0.4 observation_sources: laser_scan_sensor laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true} global_costmap: global_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 5.0 static_map: true local_costmap: local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: true rolling_window: true width: 6.0 height: 6.0 resolution: 0.05 When I did the 2d navigation goal it moves like what I want and the map shows that also, but then it kept on spinning and won't stop. It gave me alot of this: [ WARN] [1560202477.002795121]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0742 seconds [ WARN] [1560202477.092615987]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1140 seconds [ WARN] [1560202478.586816017]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0942 seconds [ WARN] [1560202478.686886942]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0943 seconds [ WARN] [1560202478.786992583]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0943 seconds I tried changing the control frequency to 3 and it's the same thing