Global path not changing with new obstacles !

edit

hello I'm using move_base to generate paths based on a map. The below rviz screenshot sums up my problem quite well: essentially as the new (middle) obstacle appeared in my LiDAR's view, the global path (in green) doesn't update. It seems properly inflated (blue).

my config files (DWA) : https://github.com/husky/husky/tree/i...

ı tried;

planner_frequency: 1.0

static_map : true

So what happens is that move_base keeps going onto the global path until it arrives too close to the obstacle, and then it backs up (recovery mode).

Any ideas why my global path isn't changing?