Corrected check to detect collision (#1404) (#1601)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>
ros-navigation · Mar 19, 2020 · 0da23bb · 0da23bb
1 parent 24c6929
commit 0da23bb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_costmap_2d/src/collision_checker.cpp b/nav2_costmap_2d/src/collision_checker.cpp
@@ -51,7 +51,7 @@ bool CollisionChecker::isCollisionFree(
   const geometry_msgs::msg::Pose2D & pose)
 {
   try {
-    if (scorePose(pose) < 0) {
+    if (scorePose(pose) >= INSCRIBED_INFLATED_OBSTACLE) {
       return false;
     }
     return true;