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The standard way of achieving basic obstacle avoidance in grid-map based planning is inflating the grid map's walls with the size of the robot (+ some margin), i.e. dilate the obstacles in the map.

Another option would be to implement some basic reactive obstacle avoidance that checks sensor data for close-by walls and mixes in steering commands to keep away from walls while still following the global plan.

That being said, there are many open source solutions for this kind of problem available for ROS, so those could be used as well.