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The problem ,as I understood, is that the global planner didn't know anything about Obstacles in obstacle layer. So when I use default layering and comment the plugin explicit specification the robot starts avoid it and build the path correctly.

However I found a very strange problem and I can't figure out why is that happening. When I explicitly specify the plugins for each costmap they work very bad. The local costmap reduce the inflation to almost 0, while the inflation in the global costmap is ok (both of them use the same inflation layer). But when I let the navigation stack to use plugins auto costmaps work ok.

I think there are still luck of documentation in 2021 how to use plugins with costmaps(

The problem ,as I understood, is that the global planner didn't know anything about Obstacles in obstacle layer. So when I use default layering and comment the plugin explicit specification the robot starts avoid it and build the path correctly.

However I found a very strange problem and I can't figure out why is that happening. When I explicitly specify the plugins for each costmap they work very bad. The local costmap reduce the inflation to almost 0, while the inflation in the global costmap is ok (both of them use the same inflation layer). But when I let the navigation stack to use plugins auto costmaps work ok.

I think there are still luck of documentation in 2021 how to use plugins with costmaps(

plugins:
  - {name: static_layer,           type: "costmap_2d::StaticLayer"}
  - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}
  - {name: obstacle_layer,         type: "costmap_2d::VoxelLayer"}