No obstacle avoidance with dwb controller

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I am playing around with nav2 stack and I am heaving trouble getting simple obstacle avoidance to work.
I now returned to the default controller scales to see if avoidance would work with default params but also no change.

I have a fixed global plan, which goes through a local obstacle.
And I would have expected the local planner to at least plan a bit away from obstacle.
But as you see it's just going straight through and I am not sure if it's a bug or just tuning?
Adding ObstacleFootprint plugin stops the shuttle at least before the obstacle but no avoidance.

Also coming from ROS 1, I remember a parameter which doesn't erase obstacles inside its footprint.
Found this one footprint_clearing_enabled, but seems to have no effect if set to false.

/controller_server:
  ros__parameters:
    BaseObstacle.class: "BaseObstacle"
    BaseObstacle.scale: 0.02
    BaseObstacle.sum_scores: False
    GoalAlign.aggregation_type: "last"
    GoalAlign.class: "GoalAlign"
    GoalAlign.forward_point_distance: 0.325
    GoalAlign.scale: 0
    GoalDist.aggregation_type: "last"
    GoalDist.class: "GoalDist"
    GoalDist.scale: 24
    Oscillation.class: "Oscillation"
    Oscillation.oscillation_reset_angle: 0.2
    Oscillation.oscillation_reset_dist: 0.05
    Oscillation.oscillation_reset_time: -1
    Oscillation.scale: 1
    Oscillation.x_only_threshold: 0.05
    PathAlign.aggregation_type: "last"
    PathAlign.class: "PathAlign"
    PathAlign.forward_point_distance: 0.325
    PathAlign.scale: 0
    PathDist.aggregation_type: "last"
    PathDist.class: "PathDist"
    PathDist.scale: 32
    RotateToGoal.class: "RotateToGoal"
    RotateToGoal.scale: 32
    RotateToGoal.xy_goal_tolerance: 0.25
    acc_lim_theta: 2
    acc_lim_x: 2
    acc_lim_y: 0
    controller_frequency: 20
    controller_plugin_ids: ["FollowPath"]
    controller_plugin_types: ["dwb_core::DWBLocalPlanner"]
    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
    debug_trajectory_details: True
    decel_lim_theta: -2
    decel_lim_x: -2
    decel_lim_y: 0
    discretize_by_time: False
    goal_checker_name: "dwb_plugins::SimpleGoalChecker"
    max_speed_xy: 1.3
    max_vel_theta: 1
    max_vel_x: 1.3
    max_vel_y: 0
    min_speed_theta: 0
    min_speed_xy: 0
    min_theta_velocity_threshold: 0.001
    min_vel_x: 0
    min_vel_y: 0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    prune_distance: 1
    prune_plan: True
    publish_cost_grid_pc: True
    publish_evaluation: True
    publish_global_plan: True
    publish_local_plan: True
    publish_trajectories: True
    publish_transformed_plan: True
    sim_time: 1.7
    trajectory_generator_name: "dwb_plugins::StandardTrajectoryGenerator"
    transform_tolerance: 0.2
    use_sim_time: True
    vx_samples: 20
    vy_samples: 5
    xy_goal_tolerance: 0.25
    yaw_goal_tolerance: 0.25



/local_costmap/local_costmap:
  ros__parameters:
    3d_obstacle_layer.combination_method: 1
    3d_obstacle_layer.decay_model: 0
    3d_obstacle_layer.enabled: True
    3d_obstacle_layer.map_save_duration: 60
    3d_obstacle_layer.mapping_mode: False
    3d_obstacle_layer.mark_threshold: 0
    3d_obstacle_layer.observation_sources: "rgbd1_clear rgbd1_mark"
    3d_obstacle_layer.publish_voxel_map: True
    3d_obstacle_layer.rgbd1_clear.clear_after_reading: False
    3d_obstacle_layer.rgbd1_clear.clearing: True
    3d_obstacle_layer.rgbd1_clear.data_type: "PointCloud2"
    3d_obstacle_layer.rgbd1_clear.decay_acceleration: 1
    3d_obstacle_layer.rgbd1_clear.enabled: True
    3d_obstacle_layer.rgbd1_clear.expected_update_rate: 0
    3d_obstacle_layer.rgbd1_clear.horizontal_fov_angle: 1.04
    3d_obstacle_layer.rgbd1_clear.inf_is_valid: False
    3d_obstacle_layer.rgbd1_clear.marking: False
    3d_obstacle_layer.rgbd1_clear.max_obstacle_height: 3
    3d_obstacle_layer.rgbd1_clear.max_z: 10
    3d_obstacle_layer.rgbd1_clear.min_obstacle_height: 0
    3d_obstacle_layer.rgbd1_clear.min_z: 0.1
    3d_obstacle_layer.rgbd1_clear.model_type: 0
    3d_obstacle_layer.rgbd1_clear.observation_persistence: 0
    3d_obstacle_layer.rgbd1_clear.obstacle_range: 2.5
    3d_obstacle_layer.rgbd1_clear.sensor_frame: ""
    3d_obstacle_layer.rgbd1_clear.topic: "/custom_camera/custom_points"
    3d_obstacle_layer.rgbd1_clear.vertical_fov_angle: 0.7
    3d_obstacle_layer.rgbd1_clear.vertical_fov_padding: 0
    3d_obstacle_layer.rgbd1_clear.voxel_filter: False
    3d_obstacle_layer.rgbd1_mark.clear_after_reading: True
    3d_obstacle_layer.rgbd1_mark.clearing: False
    3d_obstacle_layer.rgbd1_mark.data_type: "PointCloud2"
    3d_obstacle_layer.rgbd1_mark.decay_acceleration: 0
    3d_obstacle_layer.rgbd1_mark.enabled: True
    3d_obstacle_layer.rgbd1_mark.expected_update_rate: 0
    3d_obstacle_layer.rgbd1_mark.horizontal_fov_angle: 1.04
    3d_obstacle_layer.rgbd1_mark.inf_is_valid: False
    3d_obstacle_layer.rgbd1_mark.marking: True
    3d_obstacle_layer.rgbd1_mark.max_obstacle_height: 5
    3d_obstacle_layer.rgbd1_mark.max_z: 10
    3d_obstacle_layer.rgbd1_mark.min_obstacle_height: 0.2
    3d_obstacle_layer.rgbd1_mark.min_z: 0
    3d_obstacle_layer.rgbd1_mark.model_type: 0
    3d_obstacle_layer.rgbd1_mark.observation_persistence: 0
    3d_obstacle_layer ...