controller_frequency: 10.0
controller_patience: 10.0
planner_patience: 5.0
planner_frequency: 4.0

shutdown_costmaps: true

recovery_behavior_enabled: true
max_planning_retries: 8
clearing_rotation_allowed: true
conservative_reset_dist: 6.0

oscillation_timeout: 10.0
oscillation_distance: 0.2

controller_frequency: 10.0
controller_patience: 10.0

planner_patience: 5.0
planner_frequency: 4.0

recovery_behavior_enabled: true
clearing_rotation_allowed: true
shutdown_costmaps: false

oscillation_timeout: 10.0
oscillation_distance: 0.2

max_planning_retries: -1
conservative_reset_dist: 6.0

Set max_planning_retries to -1 (infinite) and shutdowm_costmap true
Set max_planning_retries to -1 (infinite) and shutdowm_costmap true

shutdown_costmap を true にするとlocal costmap が機能し始めた（謎）
