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When I set negate to 1, it looks like I do mark the obstacles- but why wasn't the raytrace through the black section getting cleared when negate was 0?

When It looks like I needed to have negate set negate to 1, 1 (though FREE_SPACE = 0 in the costmap_2d header file), and then the space near the robot and origin becomes free space and it looks like I do my LaserScan does mark the obstacles- but obstacles. But why wasn't the raytrace through the black LETHAL_OBSTACLE section getting cleared when negate was 0?

It looks like I needed to have negate set to 1 (though FREE_SPACE = 0 in the costmap_2d header file), and then the space near the robot and origin becomes free space and it looks like my LaserScan does mark the obstacles. But why wasn't the raytrace through the LETHAL_OBSTACLE section that the robot was surrounded by getting cleared when negate was 0?

It looks like I needed to have negate set to 1 (though FREE_SPACE = 0 in the costmap_2d header file), and then the space near the robot and origin becomes free space and it looks like my LaserScan does mark the obstacles. But why wasn't the raytrace through the LETHAL_OBSTACLE section that the robot was surrounded by getting cleared when negate was 0?0- because no obstacles from the static map are ever cleared?