AMCL particles not appearing on rviz2

[hemsinghb]

Hi,

My robot is working fine except 2 issues.

Thanks to Mr. Juan Miguel Jimeno.
issue 1: amcl particles are not appearing on the rviz2
issue 2: The robot BT navigator is making shortest path and robot is following the same. Can we have a slight margin (tolerance, wider radius) to make path in open place instead of shortest. I tried out with increased inflation but it not working out, Please.

Thanks , Regards, Hem

[hippo5329]

1. please post picture of rviz.
2. the nav config file is https://github.com/linorobot/linorobot2/blob/humble/linorobot2_navigation/config/navigation.yaml