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Which version of ROS are you using? It looks like you're using an older version of the nav stack configuration for obstacle sources.

Obstacle avoidance is performed based on the local costmap, but it looks like you're visualizing the global costmap. Does the robot's footprint intersect with obstacles in the local costmap?

The global planner will tend to plan close to obstacles near corners; this is one effect of finding the shortest path. It should be possible to tune this, but you should save that for later, once the local planner no longer runs into obstacles.