From 0f7a060fd324b8403cf611af5074bd90bbbf9055 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 26 Aug 2022 09:22:53 -0700 Subject: [PATCH] Fix #3152: Costmap extend did not include Y component (#3153) --- .../src/regulated_pure_pursuit_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index d8721c646f..55898dc339 100644 --- 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; }