The PathAlign and GoalAlign critics appear to bias the dwb_controller path following results to steer the robot dangerously close to obstacles, particularly seen when rounding corners. Removing them (set scale to 0) appears to lead to better performance. There is likely some bug either with the critics themselves or as a consequence of something else that is happening (perhaps the pruning of the goal position?). We should investigate these critics and test that they are being enacted properly.

Steps to reproduce issue

- launch navigation bringup
- set pose
- navigate to goal

Expected behavior

• should reach goal while avoiding obstacles consistently when there is ample space to avoid them

Actual behavior

• moves very close to obstacle posts when rounding corners, often failing with DWB even when the global plan is far from obstacles and there is ample obstacle-free room