Robot doesn't Follow its path and particle cloud spreads out

Hi Everyone, Has anyone had an experience with the robot following the path and going off it from time to time? It causes my robot to run into the walls and Im struggling with finding the solution to this problem. I should also mention that the robot doesn't see the obstacles and I don't know how to go out this. Kind regards, Maciej With the reply to the comment I am posting all my config files below, if code is needed, this will be provided too. Launch file: Base local planner: TrajectoryPlannerROS: max_vel_x: 0.25 min_vel_x: 0.1 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 acc_lim_theta: 10.0 acc_lim_x: 10.0 acc_lim_y: 10.0 holonomic_robot: false meter_scoring: 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: 5.0 static_map: true rolling_window: true /*width: 6.0 /*height: 6.0 resolution: 0.05 obstacles: 5.0 Costmap common: obstacle_range: 1.5 raytrace_range: 1.5 #robot_radius: 0.1 inflation_radius: 0.5 transform_tolerance: 0.3 footprint: [ [0.25, 0.25], [-0.25, 0.25],[-0.25, -0.25], [0.25, -0.25], [0.35,0.0] ] observation_sources: my_sensor laser_cloud laser_scan_sensor: {sensor_frame: my_sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true} point_cloud_sensor: {sensor_frame: laser_cloud, data_type: PointCloud, topic: topic_name, marking: true, clearing: true} I hope that this helps with solving my problem. Also with regards to screenshots, it seems that the local costmap doens't update and gets depleted as time goes: