Static obstacle not correctly taken into account in path planning

[Margueww]

Hi,
I'm trying to use opennav_coverage with static obstacles, but it seems they are not correctly taken into account during path planning.
The coverage server parameters are the same as in the demo, and I modified the demo_coverage.py node to consider the polygon
field = [ [[4.0, -4.0], [-4.0, -4.0], [-4.0, 4.0], [4.0, 4.0], [4.0, -4.0]], [[-2.0,1.0],[-2.0,3.0],[0.0,3.0],[0.0,1.0], [-2.0,1.0]], ]
The second polygon corresponds to a square around the bottom left obstacle on the image (not exactly the correct position, it was just to test) :

The polygon seems to be correctly defined, as the logs indicate [component_container_isolated-1] [INFO] [1751615967.629853389] [coverage_server]: Generating coverage path in map frame for zone with 5 outer nodes and 1 inner polygons.

The generated path (green) should go around the obstacle but it clearly goes through.
What am I doing wrong ?
Also, is there a way to consider mobile obstacles using the costmaps without defining them in the polygon, as in the original nav2 planner server ?
Thanks in advance for your help

[ahmetbngl16]

it's won't fix, here is the related link
#50