From 9a279238b4315da97e122f2e2e39aad1978b507e Mon Sep 17 00:00:00 2001
From: Aitor Miguel Blanco <aitormibl@gmail.com>
Date: Sat, 21 Mar 2020 22:57:47 +1100
Subject: [PATCH] Changed collision check to detect only lethal and unknown
 cells (#1404)(#1603)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>
---
 nav2_costmap_2d/src/collision_checker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/collision_checker.cpp b/nav2_costmap_2d/src/collision_checker.cpp
index 32739ce6ee..4e8d92c127 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) >= INSCRIBED_INFLATED_OBSTACLE) {
+    if (scorePose(pose) >= LETHAL_OBSTACLE) {
       return false;
     }
     return true;