How to limit navigation planner plan in specific area on the map, i.e just from the middle of corridors?

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You may use the costmap_prohibition_layer plugin (http://wiki.ros.org/costmap_prohibiti...).

This will be useful in adding prohibition areas to cost map 2D. The user can define prohibited regions in a YAML file in world coordinates.

I'm not aware of a strict way of programming this behavior but there are parameters that you can tune that may result in the behavior that you are looking for.

Try increasing occdist_scale in your dwa_local_planner_params.yaml file. This will increase the weight for how much the controller tries to avoid objects.

Also, try increasing the inflation_radius in your costmap_common_params.yaml file. This will increase the radius in meters to which the map inflates obstacle cost values.

Be careful with the inflation_radius though. If it is too high, then the robot will be unable to navigate through tight spaces.

You can probably achieve such behavior by either tuning the (existing) global and/or local costmaps or by defining your own costmap layer. See http://wiki.ros.org/costmap_2d and http://wustl.probablydavid.com/public...