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Zhiping,
From the videos you posted it looks like the navigation stack isn't receiving laser data from stage correctly. No obstacles, raw or inflated, are showing up in the costmap. Is navigation giving you any errors? Are you sure that you've configured navigation to run with the correct topic name for the laser? Is there anything notably different in the topics provided by the p2os driver versus stage that would prevent the same configuration files from working in both scenarios?
Hope all is well,
Eitan