Cause path planning to take wider turns

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I am having trouble getting my robot to find a path through doorways. Sometimes the global costmap just doesn't give enough space. A solution is to decrease the inflation_radius, however the result is that it plans paths with very tight corners, meaning sometimes the robot runs over items near the wall that stick out below the sensor level.

Is there a way to coerce the planner into accepting tight spaces when there is no alternative, like doorways, but take a wide birth around corners when it is possible?

It feels like a need another "inflation" box for "desired personal space".