ROS Navigation is flying into obstacles at altitude

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I'm trying to get 2D navigation working on a drone. I don't care about altitude, but I want to navigate at my current altitude in 2D. I have basically set this up using the tutorials but have tweaked along the way trying to debug this issue. I am using a single 360 lidar simulated in gazebo with urdf, so no point cloud abilities.

I made a single wall with a goal on the other side in gazebo. If I am at 5m altitude, it flies straight into the wall. If I'm at 3m altitude it tries to go around, but clips the corner. I have tried messing with the max_obstacle_height and min_obstacle height as well as voxel settings. However, I'm wondering if the voxel stuff requires a point cloud rather than my 2d laser scan traveling up the wall.

In rviz, there is a costmap for the wall. With voxel enabled, it draws a single line point cloud to the current altitude of the wall but no effect on flight. Without voxel it seems to decay off the map, even though I'm getting a live return from the wall via lidar.

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 50.0
  height: 50.0
  resolution: 0.1
  plugins:
    - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 500.0
  height: 500.0
  resolution: 0.1
  plugins:
    - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} 
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

costmap_common_params.yaml

obstacle_range: 40.0
raytrace_range: 40.0
max_obstacle_height: 60
min_obstacle_height: 0
footprint: [ [0.5, 0.5], [-0.5, 0.5], [-0.5, -0.5], [0.5, -0.5] ]
#robot_radius: 0.5

#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}

obstacle_layer:
    laser_scan_sensor: 
        sensor_frame: lightware
        data_type: LaserScan
        topic: /theseus/lightware
        marking: true
        clearing: true
        max_obstacle_height: 60
        min_obstacle_height: 0
        obstacle_range: 100.0
        raytrace_range: 100.0
    observation_sources: laser_scan_sensor
    publish_voxel_map: true
    z_resolution: 0.5
    z_voxels: 120
    z_origin: 5

inflation_layer:
    inflation_radius: 5.0
    cost_scaling_factor: 10.0