Costmap2d parameters tuning: costmap overlap at the entrance of door

edit

I faced the same problem and solved it just now.

So basically, you have to launch the move_base package and provide the parameters there.

For an example, let's take the amcl_demo.launch in your turtlebot_navigation package. In it, you can see move_baselaunched by including a move_base.launch.xml file.

 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>

Now let's inspect that launch file.

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/navfn_global_planner_params.yaml" command="load" />
    ...

Multiple yaml files are loaded into the move base as parameters. The $(find turtlebot_navigation)/param/local_costmap_params.yaml file is one of them which contains the common parameters for both the global and local cost maps.

In it, you can see

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
    enabled:              true
    cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
    inflation_radius:     0.3  # max. distance from an obstacle at which costs are incurred for planning paths. !!!Was 0.5 (Janindu)

When I was trying to move in a corridor, Turtlebot got stuck because the inflation_radius was set to 0.5m and the robot didn't have any space to move. When I changed it to 0.3m and relaunched my amcl_demo.launch, it worked like a baby.

Don't know what your setup is but if you follow along these lines, you should be able to fix it. If not, just let me know. Willing to help more.