problem with narrow passage

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Hi

My robot behaves strangely when passing through a narrow passage. The robot seems to hesitate to cross the narrow passage.

If I disable the "obstacle_layer" of "local_costmap" the robot goes smoothly through the passage.

Videos/Images:

RVIZ: https://drive.google.com/file/d/1v9L9...

Real with "obstacle_layer" enabled: https://drive.google.com/file/d/1-BYy...

Real with "obstacle_layer" disabled: https://drive.google.com/file/d/1K0qn...

Width of passage: https://drive.google.com/file/d/1-EHU...

my settings files:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0

footprint: [[-0.17,-0.17],[-0.17,0.17],[0.17,0.17],[0.17,-0.17]]

observation_sources: scan
scan: {sensor_frame: rplidar_link,  observation_persistence: 0.0, max_obstacle_height: 0.4, min_obstacle_height: 0.0, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

inflation_layer:

    inflation_radius: 0.3 #default 0.55

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  transform_tolerance: 0.5 

  update_frequency: 7.0
  publish_frequency: 7.0 
  static_map: true
  rolling_window: false

local_costmap_params.yaml

 local_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 7.0
  publish_frequency: 7.0
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.02 #defaul 0.02
  transform_tolerance: 0.5

move_base.launch:

<?xml version="1.0"?>
<launch>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find autonomo)/maps/map.yaml" output="screen"/>
  <include file="$(find autonomo)/launch/amcl_diff.launch" >
  </include>  
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <!--<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>  -->
    <rosparam file="$(find autonomo)/launch/move_base.yaml" command="load"/>
    <rosparam file="$(find autonomo)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find autonomo)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find autonomo)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find autonomo)/launch/global_costmap_params.yaml" command="load" />
  </node>
</launch>

move_base.yaml:

controller_patience: 15.0 
planner_frequency: 3.0 
controller_frequency: 15.0   
TrajectoryPlannerROS:
  max_vel_x: 0.20
  min_vel_x: 0.05    
  max_vel_theta:  1.0
  min_vel_theta: -1.0      
  max_rotational_vel: 0.6 
  min_in_place_rotational_vel: 0.6 
  max_in_place_vel_theta: 1.0
  min_in_place_vel_theta: 1.0     
  holonomic_robot: false   
  escape_reset_dist: 0.0 
  escape_reset_theta: 0.0

Is something wrong with my setup? Are there any parameters I could adjust to improve this?

Thaks