From 6253845fc0c65b122b7bffd6712f156cebb3d9ec Mon Sep 17 00:00:00 2001
From: ChristofDubs <christof.dubs@gmx.ch>
Date: Wed, 3 Feb 2021 02:26:36 +0900
Subject: [PATCH] fix boundary point exclusion in convexFillCells (#2161)

---
 nav2_costmap_2d/src/costmap_2d.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/costmap_2d.cpp b/nav2_costmap_2d/src/costmap_2d.cpp
index 976d09ce263..21a96bcf8b5 100644
--- a/nav2_costmap_2d/src/costmap_2d.cpp
+++ b/nav2_costmap_2d/src/costmap_2d.cpp
@@ -435,7 +435,7 @@ void Costmap2D::convexFillCells(
 
     MapLocation pt;
     // loop though cells in the column
-    for (unsigned int y = min_pt.y; y < max_pt.y; ++y) {
+    for (unsigned int y = min_pt.y; y <= max_pt.y; ++y) {
       pt.x = x;
       pt.y = y;
       polygon_cells.push_back(pt);