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The easiest way to do that would be to set the occ_dist parameter of the local planner to zero (I assume you're using base_local_planner). This won't add any extra cost for potential trajectories to enter nonzero cost cells. I suppose you could even configure the local costmap to not have any layers, which would keep it empty.

I don't know your application, but you might find the robot will clip objects by doing something like this. The only way I see this working is if you update the global plan from navfn at a pretty high frequency.

I hope this helps!