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Hi jorge, Thanks a lot for your response. I haven't tried the hydro navigation stack yet. Before that, I tried something else the other day, and it seems to have improved the turtlebot's ability to see "fake obstacles". In the base_local_planner_params.yaml file, I set the pdist_scale parameter to a high value. After this, the turtlebot seems to be accounting for the fake obstacles I drew into the map. According to the wiki page on base_local_planner, increasing pdist_scale basically makes the turtlebot stick to the path (I think they mean the global path) it was given. So what was probably happening earlier was that this parameter was set too low. So the local planner was not sticking to the global path so rigidly. Hence, it would often cut across the areas marked as obstacles on the map and pay attention only to the local obstacles. One problem with increasing this parameter is that when it sees a local obstacle, in most of the cases, instead of finding a way around the obstacle, it just stops and gets stuck (if my reasoning is correct, this is because it is stubborn about following the global path).