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Turns out it was a misuse of using the clear cost map service on my end which was causing the path planning issue. Adding the "base_global_plannar_params.yaml" file with "allow_unknown: false" did fix the problem. If someone can confirm this was the proper fix, please let me know.

What I was doing before was calling the /move_base/clear_maps every time the robot reaches the goal because the global costmap was getting updated with obstacles. This caused the next goal to be unachievable because there isn't a free path back.

I currently have the global_costmap params to the default parameters:

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true

I've tried changing the update_frequency to 0.0, and it didn't work. Is there anything I can do so the global_costmap doesn't get updated with obstacles?

Turns out it was a misuse of using the clear cost map service on my end which was causing the path planning issue. Adding the "base_global_plannar_params.yaml" file with "allow_unknown: false" did fix the problem. If someone can confirm this was the proper fix, please let me know.

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true