Robot stops midway while navigating even if there is no obstacles

[MrOCW]

robot stops.webm The local TEB plan looks quite smooth, no obstacles are ahead but the robot just jerks and stops every now and then. The command line doesnt seem to have any useful debug info

      teb_autosize: 1.0
      dt_ref: 0.3
      dt_hysteresis: 0.03
      max_samples: 100
      global_plan_overwrite_orientation: False
      allow_init_with_backwards_motion: True
      max_global_plan_lookahead_dist: 5.0
      global_plan_viapoint_sep: 10.0
      global_plan_prune_distance: 1.0
      exact_arc_length: False
      feasibility_check_no_poses: 0
      publish_feedback: True

      max_vel_x: 0.5
      max_vel_x_backwards: 0.15
      max_vel_theta: 1.0 
      acc_lim_x: 0.2
      acc_lim_theta: 0.6

      footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
        type: "polygon"
        vertices: "[ [0.7, 0.7], [0.7, -0.7], [-0.7, -0.7], [-0.7, 0.7] ]"

      free_goal_vel: False

      min_obstacle_dist: 0.8
      inflation_dist: 2.2
      include_costmap_obstacles: True
      costmap_obstacles_behind_robot_dist: 0.0
      obstacle_poses_affected: 40
      dynamic_obstacle_inflation_dist: 2.0
      include_dynamic_obstacles: False
      costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
      costmap_converter_spin_thread: True
      costmap_converter_rate: 4

      no_inner_iterations: 5
      no_outer_iterations: 4
      optimization_activate: True
      optimization_verbose: False
      penalty_epsilon: 0.1
      obstacle_cost_exponent: 8.0
      weight_max_vel_x: 0.5
      weight_max_vel_theta: 0.5
      weight_acc_lim_x: 0.5
      weight_acc_lim_theta: 10.5
      weight_kinematics_nh: 1000.0
      weight_kinematics_forward_drive: 1.0
      weight_kinematics_turning_radius: 0.2
      weight_optimaltime: 1.0 # must be > 0
      weight_shortest_path: 0.0
      weight_obstacle: 10.0
      weight_inflation: 0.8
      weight_dynamic_obstacle: 10.0 # not in use yet
      weight_dynamic_obstacle_inflation: 0.8
      weight_viapoint: 0.5
      weight_adapt_factor: 2.0

      enable_homotopy_class_planning: False
      enable_multithreading: True
      max_number_classes: 1
      selection_cost_hysteresis: 1.0
      selection_prefer_initial_plan: 1.0
      selection_obst_cost_scale: 1.0
      selection_alternative_time_cost: False
      roadmap_graph_no_samples: 15
      roadmap_graph_area_width: 5.0
      roadmap_graph_area_length_scale: 1.0
      h_signature_prescaler: 0.5
      h_signature_threshold: 0.1
      obstacle_heading_threshold: 0.45
      switching_blocking_period: 0.0
      viapoints_all_candidates: True
      delete_detours_backwards: True
      max_ratio_detours_duration_best_duration: 3.0
      visualize_hc_graph: False
      visualize_with_time_as_z_axis_scale: 0.0

      shrink_horizon_backup: True
      shrink_horizon_min_duration: 10.0
      oscillation_recovery: True
      oscillation_v_eps: 0.1
      oscillation_omega_eps: 0.1
      oscillation_recovery_min_duration: 10.0
      oscillation_filter_duration: 10.0