clearing_radius costmap

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Hello,

I have one question with this parameter in the navigation stack.

I have already running the move_base node with fake_localize, base_local_planner, base_global_planner and works great but I have some troubles because the ugv goes very near of the walls. I try to change this parameters:

clearing_radius inflation_radius

but I can't change the global_planner to make the path very near of the obstacles, the robot goes with the same distance with the difference that it can't go inside some places (maybe because the inflation_radius).

I want the robot goes a little far from the walls (about 30-40 cm). Can anybody tell me how this parameters work? I don't find any documentation.