fixing smac collision on footprints (#2232)

ros-navigation · Mar 11, 2021 · a9aa449 · a9aa449
1 parent 24f0bc6
commit a9aa449
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp
@@ -77,7 +77,7 @@ class GridCollisionChecker
       }
 
       // if occupied or unknown and not to traverse unknown space
-      return footprint_cost_ >= OCCUPIED;
+      return footprint_cost_ >= INSCRIBED;
     } else {
       // if radius, then we can check the center of the cost assuming inflation is used
       footprint_cost_ = costmap_->getCost(