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In Hydro, the obstacle avoidance behavior of the nav stack is determined by which costmaps are in use. In theory, you should be able to configure the nav stack to use only static costmaps.

If you're trying different configurations without restarting, you may find that you need to clear out the parameter server between runs to make sure you get a clean configuration. You can either restart your roscore, or clear out just the move base configuration with something like rosparam delete /move_base

I don't believe this is possible in earlier versions of the nav stack, before Hydro.