Changed collision check to detect only lethal and unknown cells (ros-…

…navigation#1404)(ros-navigation#1603) Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>
gimait · Mar 21, 2020 · 9a27923 · 9a27923
1 parent 8d5fa2e
commit 9a27923
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) >= INSCRIBED_INFLATED_OBSTACLE) {
+    if (scorePose(pose) >= LETHAL_OBSTACLE) {
       return false;
     }
     return true;