How can I make Turtlebot get close to obstacles as much as possible?

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I would like to get some input on what parameters can/should typically be modified so that the robot would be more hesitant to avoid objects, i.e. drive closer to objects in the room (or the opposite)?

For instance, I tried to change parameters in global_costmap and local_costmap, using rqt_reconfigure, to test if it will affect the robot's navigation. I changed inflation_radius and cost_scaling_factor and I can see the changes in Rviz, but the robot behaves (navigates) in the same way as before, i.e. it does not change its distance to obstacles.

Any suggestions on how I can proceed?