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Looks like I found the source of the problem

local_costmap:
    global_frame: /base_footprint
    robot_base_frame: base_link

Obviously global_frame should be /map. I'm not sure how that value ended up there. I think I thought this was necessary for the local map to be centered on the robot or something. Anyway, with /map, obstacles actually stay in place relatively to the global frame and it solves the problem.