Setting default tolerance on Global Planner with Move Base [closed]

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Hey, I am trying to set the default tolerance on the GlobalPlanner using move_base for a simulation I am doing with a husky. The key behavior I am looking for is that if I give the husky a goal that is in a known obstacle, it will use the default tolerance parameter to replan to a point that is not in an obstacle. I had success in this endeavor using NavfnROS as the planner and setting the default tolerance, but the behavior of NavfnROS is not what I want, it's very unreliable and the husky often stops 4 or 5 times along the way to a goal.

My problem is that when I set the default_tolerance parameter using the GlobalPlanner (using the same method I used to set it with the NavfnROS) is that the planner won't find a valid plan if I set a goal in an obstacle. I have included below the launch file I am using, with the portion of interest being the move_base launch include, as well as the .yaml file I am using to specify the parameters I want to use.

launch file portion:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

<param name="base_global_planner" value="$(arg base_global_planner)"/>
<rosparam file="$(find husky_nav)/config/global_planner.yaml" command="load"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>  
<rosparam file="$(find husky_nav)/config/draper_local_planner.yaml" command="load"/>

<!-- observation sources located in costmap_common.yaml -->
<rosparam file="$(find husky_nav)/config/costmap_common.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find husky_nav)/config/costmap_common.yaml" command="load" ns="local_costmap" />

<param name="global_costmap/robot_base_frame" value = "$(arg tf_prefix)/base_link" if="$(arg use_tf_prefix)"/>
<param name="global_costmap/robot_base_frame" value = "base_link" unless="$(arg use_tf_prefix)"/>

<param name="local_costmap/robot_base_frame" value = "$(arg tf_prefix)/base_link" if="$(arg use_tf_prefix)"/>
<param name="local_costmap/robot_base_frame" value = "base_link" unless="$(arg use_tf_prefix)"/>

<!-- local costmap, needs size -->
<rosparam file="$(find husky_nav)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<param name="local_costmap/width" value="10.0"/>
<param name="local_costmap/height" value="10.0"/>
<param name="local_costmap/global_frame" value="/map"/>

<!-- static global costmap, static map provides size -->
<rosparam file="$(find husky_navigation)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>

<!-- global costmap with laser, from odom_navigation_demo -->
<rosparam file="$(find husky_nav)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
<param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/global_frame" value="/map"/>

global_planner.yaml file GlobalPlanner: default_tolerance: 0.5