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The solution that satisfied me was to set footprint_clearing_enabled. Previously I disabled whole obstacle layer, as I don't want any changes in my map.

global_costmap: obstacle_layer: enabled: true footprint_clearing_enabled: true scan: marking: false
clearing: false

The solution that satisfied me was to set footprint_clearing_enabled. Previously I disabled whole obstacle layer, as I don't want any changes in my map.

~~global_costmap: obstacle_layer: enabled: true footprint_clearing_enabled: true scan: marking: false clearing: falsefalse~~

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