From 1f32dcabcaad9643a9222cdbf2ae9e304514b37b Mon Sep 17 00:00:00 2001
From: Narahari Rahul Malayanur
 <60045406+Naraharirahul@users.noreply.github.com>
Date: Fri, 15 Oct 2021 15:05:25 -0400
Subject: [PATCH] Modified the projection_time calculation (#2609)

(cherry picked from commit 8faa0f0550027edc7bf2640f23cff13b2af60a8f)
---
 .../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 8a0a1034be..51d3f2c93f 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
@@ -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;