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I recommend trying to set the global planner to carrot_planner.

You should be able to set the parameter ~base_global_planner to carrot_planner::CarrotPlanner in move_base.

If that is not sufficient, you will need to set something else, such as adjusting the local planner parameters.

ref:

  • http://wiki.ros.org/carrot_planner
  • http://wiki.ros.org/move_base?distro=noetic#Parameters