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I am mostly worried of your global planner planning through walls. Try changing its config to this:

  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10
  publish_frequency: 0.5
  static_map: true

  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,       type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}