Navigation stack can't avoid obstacles in Hydro

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Hi. I was using Groovy, now using Hydro on Ubuntu 12.04LTS.

Navigation stack worked fine in Groovy, but in Hydro, robot can't avoid obstacles...(Laser is working fine!) I try the following refference. However, the problem isn't solved yet.

http://answers.ros.org/question/83031...

http://answers.ros.org/question/90501...

Here is my yaml files.

---------common_params-------------
    obstacle_range: 2.5
    raytrace_range: 3.0
    robot_radius: 0.20
    inflation_radius: 0.35
    obstacles:
       observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
plugins:
  - {name: static_map, type: "costmap_2d::StaticLayer"}
#  - {name: footprint, type: "costmap_2d::FootprintLayer"}
  - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
  - {name: inflater, type: "costmap_2d::InflationLayer"}

--------------------------------base_local_planner---------------------------------------
    TrajectoryPlannerROS:
      max_vel_x: 0.3
      min_vel_x: 0.1
      max_rotational_vel: 1.0
      min_in_place_rotational_vel: 0.4

      acc_lim_th: 3.2
      acc_lim_x: 2.5
      acc_lim_y: 2.5

      holonomic_robot: false

---------------------------global_costmap------------------------------------
    global_costmap:
      global_frame: /map
      robot_base_frame: /base_link
      update_frequency: 10.0
      static_map: true
    plugins:
      - {name: static_map, type: "costmap_2d::StaticLayer"}

---------------------------local_costmap-----------------------------------
    local_costmap:
      global_frame: /map
      robot_base_frame: /base_link
      update_frequency: 10.0
      publish_frequency: 2.0
      static_map: false
      rolling_window: true
      width: 6.0
      height: 6.0
      resolution: 0.05
    plugins:
      - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
    #  - {name: footprint, type: "costmap_2d::FootprintLayer"}
      - {name: inflater, type: "costmap_2d::InflationLayer"}

Please advise me.

update:1 "can't avoid obstacles" is that my robot can move from "initial_pose" to "goal", but can't avoid obstacles. Global costmap works.(Map is covered in Rviz). Local costmap probably doesn't work.(Map doesn't change.) I don't know why local costmap doesn't work...