Modified the projection_time calculation (#2609) (#2611)

(cherry picked from commit 8faa0f0) Co-authored-by: Narahari Rahul Malayanur <[email protected]>
ros-navigation · Oct 15, 2021 · 93138d6 · 93138d6
1 parent 4d7a856
commit 93138d6
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
@@ -346,7 +346,7 @@ 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;