diff --git a/nav2_costmap_2d/src/collision_checker.cpp b/nav2_costmap_2d/src/collision_checker.cpp
index 69b40f4466..32739ce6ee 100644
--- 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;