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Changed collision check to detect only lethal and unknown cells (ros-…
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…navigation#1404)(ros-navigation#1603)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>
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gimait committed Mar 21, 2020
1 parent 8d5fa2e commit 9a27923
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion nav2_costmap_2d/src/collision_checker.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ bool CollisionChecker::isCollisionFree(
const geometry_msgs::msg::Pose2D & pose)
{
try {
if (scorePose(pose) >= INSCRIBED_INFLATED_OBSTACLE) {
if (scorePose(pose) >= LETHAL_OBSTACLE) {
return false;
}
return true;
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