Robot stops short of goal and can't reach it

In the main part of the course, the husky robot was able to reach its goal and stop. But in the course project, with the turtlebot in a much smaller environment, the robot stops short of its goal and never quite reaches it. I have been fiddling with the parameters but haven’t found the right values to enable the robot to actually reach its goal and complete the action.

Another quirk that I haven’t figured out is that if the next goal is in front of the robot, it quickly computes both a global plan and a local plan and starts toward the goal. But if the goal is behind the robot, it is only able to come up with a global plan, and starts doing rotate recovery for a while.