I am using the husky_navigation configuration and move_base launch files for my navigation stack. Which use Navfn and DWAPlanner.

My problem is that when objects don't get cleared from my local_costmap and let's say the objects block off a hallway, I cannot give the robot a goal on the otherside of the objects even though the objects are pretty far away. I get something like DWAplanner failed to find a path.

I figured that the robot should still be able to plan a global path since there are no objects in the way on the global static map and when it gets closer to the local objects it could clear them.