Revision history [back]

Your inflation_radius under the inflater_layer is too low. Ideally you should set this parameter to half the size of your robot (0.21 in your case). This is the radius in meters to which the map inflates obstacle cost values. This should make the global planner plan the path further away from the obstacles.
In addition, if you want to disable the recovery behavior, you should set the clearing_rotation_allowed parameter in move_base to false.

<param name="/clearing_rotation_allowed" value="false" />