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The behavior you are asking for is decided by the local planner. As far as I know, none of the well-known local planners can be configured to do what you want. The main purpose of the DWA planner is to avoid obstacles, so you should not use it; you need to search for a different local planner.

The navigation package contains the Carrot planner, which you could look at. It's a very limited and dumb local planner.

http://wiki.ros.org/carrot_planner

You could write a simple local planner yourself, if you know c++. There is a tutorial to get you started:

http://wiki.ros.org/navigation/Tutorials/Writing%20a%20Local%20Path%20Planner%20As%20Plugin%20in%20ROS