Modified the projection_time calculation (ros-navigation#2609)

lge-ros2 · Oct 15, 2021 · 8faa0f0 · 8faa0f0
1 parent f88c467
commit 8faa0f0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -395,7 +395,7 @@ bool RegulatedPurePursuitController::isCollisionImminent(
   pose_msg.header.frame_id = arc_pts_msg.header.frame_id;
   pose_msg.header.stamp = arc_pts_msg.header.stamp;
 
-  const double projection_time = costmap_->getResolution() / linear_vel;
+  const double projection_time = costmap_->getResolution() / fabs(linear_vel);
 
   geometry_msgs::msg::Pose2D curr_pose;
   curr_pose.x = robot_pose.pose.position.x;