navfn stability

edit

Hi.
I encountered with the problem that global_planner in navfn package makes invalid plans. It means that they go through walls on a map like on this picture.

There is ROS Electric on board.
Cannot find out why it happens, so I'd appreciate any suggestions.

UPD. I tried with original navigation stack (as well as with forked base_local_planner and move_base) and it still makes plans through the walls sometimes. Is it possible that it's a bug in navfn package? Is there any others global planners?
Here are my configs:
1. base_local_planner_params

    controller_frequency: 5.0
TrajectoryPlannerROS:
  max_vel_x: 0.70
  min_vel_x: 0.1
  max_rotational_vel: 1.5
  min_in_place_rotational_vel: 1.0
  acc_lim_th: 0.75
  acc_lim_x: 0.50
  acc_lim_y: 0.35

  holonomic_robot: false
  yaw_goal_tolerance: 1.1
  xy_goal_tolerance: 0.15
  goal_distance_bias: 0.8
  path_distance_bias: 0.6
  sim_time: 1.5
  heading_lookahead: 0.325
  oscillation_reset_dist: 0.05

  vx_samples: 6
  vtheta_samples: 20
  dwa: false

2. costmap_common_params

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.35, -0.245], [0.35,-0.245], [0.35,0.245], [-0.35, 0.245]]
footprint_padding: 0.01
inflation_radius: 1.0
observation_sources: filter
filter: {data_type: LaserScan, topic: /filter, marking: true, clearing: true}

3 global_costmap_params

global_costmap:
   global_frame: /map
   robot_base_frame: /base_link
   update_frequency: 3.0
   publish_frequency: 0.0
   static_map: true
   transform_tolerance: 0.5

4 local_costmap_params

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.1
   transform_tolerance: 0.5

UPD2.

5 BaseLocalPlanner.cfg

# gen.add("inscribed_radius", double_t, 0, "The radius of the inscribed circle of the robot", 1, 0)
# gen.add("circumscribed_radius", double_t, 0, "The radius of the circumscribed circle of the robot", 1, 0)

gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 1.0, 0, 20.0)
gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 1.0, 0, 20.0)
gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 1.0, 0, 20.0)

gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55, 0, 20.0)
gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0, 0, 20.0)

gen.add("max_vel_theta", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s",  1.0, 0, 20.0)
gen.add("min_vel_theta", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", -1.0, 0, 20.0)
gen.add("min_in_place_vel_theta", double_t, 0, "The absolute value of the minimum in-place rotational velocity the controller will explore", 0.4, 0, 20.0)

gen.add("sim_time", double_t, 0, "The amount of time to roll trajectories out for in seconds", 3, 0, 10)
gen.add("sim_granularity", double_t, 0, "The granularity with which to check for collisions along each trajectory in meters", 0.025, 0, 5)

gen.add("pdist_scale", double_t, 0, "The weight for the path distance part of the cost function ...