global_planner fails to find a plan - It doesn't search certain regions on the map

edit

Here is the situation in the above picture. The robot is between a sofa and a wall, and it is facing upwards. I am setting a goal in the bigger room (right part of the map), and global_planner fails to produce a path. The visualization of global_planner's potential shows that it didn't even search in the big room.

What led to this behavior, i.e. graph search doesn't cover the region involving the goal? How do we correct it?

Some info: use_dijlstra is set to true (default).

Thanks!

EDIT: My parameters:

move_base

# Choose planners                                            
base_local_planner: "dwa_local_planner/DWAPlannerROS"        
base_global_planner: "global_planner/GlobalPlanner"          

# Using default recovery behaviors                           

# Timeouts and frequencies                                   
controller_frequency: 10.0                                   
controller_patience: 15.0                                    

planner_frequency: 2.0 #global plan | 0.25 #2.0              
planner_patience: 5.0                                        

oscillation_timeout: 10.0                                    
oscillation_distance: 0.2                                    

# Other params                                               
shutdown_costmaps: false                                     

# global_planner params                                      
GlobalPlanner:                                               
  default_tolerance: 0.2                                     
  cost_factor: 0.5489                                        
  neutral_cost: 66                                           
  lethal_cost: 253

costmap

global_frame: /map
robot_base_frame: /base_footprint
map_type: voxel

# Robot definition
# Even wider
# footprint: [[-0.495, 0.145], [-0.105, 0.366], [0.154, 0.374], [0.357, 0.154], [0.357, -0.154], [0.154, -0.374], [-0.105, -0.366], [-0.495, -0.145]]
# Wider
# footprint: [[-0.483, 0.121], [-0.092, 0.343], [0.132, 0.343], [0.349, 0.136], [0.349, -0.136], [0.132, -0.343], [-0.090, -0.343], [-0.483, -0.121]]
# Narrower
footprint: [[-0.42951, -0.10764], [-0.08274, -0.30298], [0.11447, -0.30298], [0.30577, -0.12000], [0.30577, 0.12000], [0.11447, 0.30298], [-0.08407, 0.30298], [-0.42951, 0.10764]]

map_layer:
  map_topic: /map


nogo_layer:
  map_topic: /map_nogo


inflation_layer:
  inflation_radius: 1.75
  cost_scaling_factor: 2.58


obstacle_layer:
  max_obstacle_height: 2.0
  obstacle_range: 2.5
  raytrace_range: 3.0

  origin_z: -0.2
  z_resolution: 0.15
  z_voxels: 12
  unknown_threshold: 8
  mark_threshold: 0

  publish_voxel_map: true

  observation_sources: laser xtion_obstacles xtion_clear xtion_back_obstacles xtion_back_clear

  laser:           {topic: /scan, data_type: LaserScan, sensor_frame: laser_link, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
  xtion_obstacles: {topic: /xtion_qqvga/depth/points_clipped, data_type: PointCloud2, marking: true, clearing: false, min_obstacle_height: 0.1, max_obstacle_height: 0.9, observation_persistence: 0.0, obstacle_range: 2.0}
  xtion_clear:     {topic: /xtion_qqvga/depth/points_max, data_type: PointCloud2, marking: false, clearing: true, min_obstacle_height: -0.1, max_obstacle_height: 1.1, observation_persistence: 0.0, raytrace_range: 5.0}
  xtion_back_obstacles: {topic: /xtion_back_qqvga/depth/points_clipped, data_type: PointCloud2, marking: true, clearing: false, min_obstacle_height: 0.1, max_obstacle_height: 0.9, observation_persistence: 0.0, obstacle_range: 2.0}
  xtion_back_clear: {topic: /xtion_back_qqvga/depth/points_max, data_type: PointCloud2, marking: false, clearing: true, min_obstacle_height: -0.1, max_obstacle_height: 1.1, observation_persistence: 0.0, raytrace_range: 5.0}

local_costmap:
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.02
  plugins:  
    - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap:
  update_frequency: 5.0
  static_map: true
  rolling_window: false
  plugins:  
    - {name: map_layer, type: "costmap_2d::StaticLayer"}
    - {name: nogo_layer, type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}