Fix #3152: Costmap extend did not include Y component (#3153)

ros-navigation · Aug 26, 2022 · 0f7a060 · 0f7a060
1 parent b3f60f5
commit 0f7a060
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
@@ -802,7 +802,7 @@ bool RegulatedPurePursuitController::transformPose(
 double RegulatedPurePursuitController::getCostmapMaxExtent() const
 {
   const double max_costmap_dim_meters = std::max(
-    costmap_->getSizeInMetersX(), costmap_->getSizeInMetersX());
+    costmap_->getSizeInMetersX(), costmap_->getSizeInMetersY());
   return max_costmap_dim_meters / 2.0;
 }