Well, basically, this is what you should do. You have to work with inflation radius and footprint padding. Be careful with low inflation radius, specially in the global planer, since it decreases planner performances. I tend to use bigger inflation in the planner than in the controller. Also another option which may introduce some problems is to use the "AlignToPath" critic, so that the controller sticks to the planner plan and avoids getting trapped in lethal spaces. However, this comes with the drawback of less straight navigation by the robot.