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I agree with what @PeteBlackerThe3rd said, your scan points are not aligned with the wall on your map, so we see that as localization issue.

and for the cost map, you can do extra setting like

local_costmap:
   global_frame: /map   
   robot_base_frame: /base_link   
   update_frequency: 5.0   
   publish_frequency: 2.0    
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0   
   transform_tolerance: 0.5   
   resolution: 0.05 
   plugins:
       - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
       - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
   obstacle_layer:
       observation_sources: "base_scan"
       base_scan: {data_type: LaserScan, sensor_frame: /laser_link, clearing: true, marking: true, topic: /scan}