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Thanks everyone! Previously the parameters were override by the parameters in another config file, and I wasn't aware. But yes, I am able to decrease the size of the inflation zone by reducing inflation_radius, and possibly increase cost_scaling_factor.

The robot is able to go through the door 8/10 times. It still sometimes stucks when entering or leaving the door at an angle. No collision, but the robot won't take action. I'm investigating on this issue. If anybody have suggestion for it, please let me know!