adjusted dwb_local_planner_params

[niniemann]

• use split_path option to enforce following complex paths (see here)
• more trajectory samples over a smaller simulated time. This fixes a
  problem where the robot would stop too far away from the goal, as all
  possible trajectories either overshot the goal, or were too short to
  reach into the next gridcell of the critics.
• removed Oscillation and PathAlign critics during the debugging process. Did not put them back in as they don't seem to be necessary.

[mintar]

Thanks! I've put the PathAlign critic back in (without it, the robot veers more from side to side instead of keeping the nose on the path), changed some comments and merged via bc6c4ff .