I am quite a beginner in ros, and when I used the turtlebot to test the ros nav stack, the bot often stucked though some recovery behaviors(the default behaviors of ros nav stack) were operated, and the error is "Aborting because a valid plan could not be found. Even after executing all recovery behaviors". It seemed that there were lots of obstales around the turtlebot in the costmap of rviz,  but in fact it was not the case. The costmap cannot clear the old or sudden obstacles(like people walking by). I have tried to  change some parameters(such as the robot radius), but it didn't work. Also I have tried to call the ~clear_costmaps services, and still made no sense. So if anybody  can tell me what should i do to solve the problem, and how can I improve the performance of ros nav stack?Thanks

Update the costmapcommonparams.yaml

max_obstacle_height: 0.60  # assume something like an arm is mounted on top of the robot
robot_radius: 0.26  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
map_type: voxel
obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             2
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true   
  obstacle_range: 2.5
  raytrace_range: 3.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  publish_voxel_map: false
  observation_sources:  scan bump
  scan:
    data_type: LaserScan
    topic: scan
    marking: true
    clearing: true
    min_obstacle_height: 0.05
    max_obstacle_height: 0.45
  bump:
    data_type: PointCloud2
    topic: mobile_base/sensors/bumper_pointcloud
    marking: true
    clearing: false
    min_obstacle_height: 0.0
    max_obstacle_height: 0.35

inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.28  # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
  enabled:              true

Update the globalcostmapparams.yaml

global_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   update_frequency: 1.0
   publish_frequency: 0.5
   static_map: true
   transform_tolerance: 0.5
   plugins:
     - {name: static_layer,            type: "costmap_2d::StaticLayer"}
     - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
     - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

Update the localcosmtapparams.yaml

local_costmap:
   global_frame: odom
   robot_base_frame: /base_footprint
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.05
   transform_tolerance: 0.5
   plugins:
    - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}