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As the comments above suggest, its a bug in Foxy that had been patched in main or newer (Galactic). The solution was a bit involved and required breaking ABI so we could not backport it to Foxy as is.

I’d be more than happy to point a user in the right direction to see if they can find a non-ABI breaking way of solving this issue for Foxy.

The root cause is the costmap clearing recovery will clear the costmaps before the next costmap update cycle, resulting in an empty global costmap to plan straight through obstacles.