diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
index 6cb21fde5e2..52934fc12dc 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
@@ -27,7 +27,6 @@
 #include "tf2_ros/transform_listener.h"
 
 #include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/robot_utils.hpp"
 #include "nav2_msgs/msg/collision_monitor_state.hpp"
 
 #include "nav2_collision_monitor/types.hpp"
diff --git a/nav2_collision_monitor/params/collision_monitor_params.yaml b/nav2_collision_monitor/params/collision_monitor_params.yaml
index ffc7981e2ab..239960e5934 100644
--- a/nav2_collision_monitor/params/collision_monitor_params.yaml
+++ b/nav2_collision_monitor/params/collision_monitor_params.yaml
@@ -34,7 +34,7 @@ collision_monitor:
       type: "polygon"
       points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
       action_type: "limit"
-      max_points: 3
+      min_points: 4
       linear_limit: 0.4
       angular_limit: 0.5
       visualize: True
diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp
index cc4f301f417..2bae91e2a0c 100644
--- a/nav2_collision_monitor/src/collision_monitor_node.cpp
+++ b/nav2_collision_monitor/src/collision_monitor_node.cpp
@@ -21,6 +21,7 @@
 #include "tf2_ros/create_timer_ros.h"
 
 #include "nav2_util/node_utils.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 #include "nav2_collision_monitor/kinematics.hpp"
 
diff --git a/nav2_util/include/nav2_util/robot_utils.hpp b/nav2_util/include/nav2_util/robot_utils.hpp
index 3fa250a8944..bcd2d2ae835 100644
--- a/nav2_util/include/nav2_util/robot_utils.hpp
+++ b/nav2_util/include/nav2_util/robot_utils.hpp
@@ -59,18 +59,6 @@ bool transformPoseInTargetFrame(
   tf2_ros::Buffer & tf_buffer, const std::string target_frame,
   const double transform_timeout = 0.1);
 
-/**
- * @brief Obtains a transform from source_frame_id at source_time ->
- * to target_frame_id at target_time time
- * @param source_frame_id Source frame ID to convert from
- * @param source_time Source timestamp to convert from
- * @param target_frame_id Target frame ID to convert to
- * @param target_time Target time to interpolate to
- * @param transform_tolerance Transform tolerance
- * @param tf_transform Output source->target transform
- * @return True if got correct transform, otherwise false
- */
-
 /**
  * @brief Obtains a transform from source_frame_id -> to target_frame_id
  * @param source_frame_id Source frame ID to convert from