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I'm not sure how much of the problem is related to this, but I just noticed that for your local costmap, you have both rolling window and static map set to false. This would technically mean that you have no local costmap. In your configuration, you probably want to set rolling window to true.
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I'm not sure how much of the problem is related to this, but I just noticed that for your local costmap, you have both rolling window and static map set to false. This would technically mean that you have no local costmap. In your configuration, you probably want to set rolling window to true.
EDIT: Based on your new information (which should be appended to the original question with an edit, rather than as an answer next time), all you need to do is modify navigation.launch in the p2os_launch package. Within the move_base node, you need to add a <remap>.
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
...
<remap from="map" to="static_map" />
</node>
What this does is tell move_base to look at the "/static_map" topic rather than the "/map" topic.
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