fixed calculation of dilation in _update_robot_geometries

bit-bots · Nov 20, 2024 · b7f7a45 · b7f7a45
1 parent b27052f
commit b7f7a45
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py b/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py
@@ -102,7 +102,7 @@ def _update_robot_geometries(self):
         for robot in self.robot_buffer:
             center = shapely.Point(robot.bb.center.position.x, robot.bb.center.position.y)
             radius = max(numpify(robot.bb.size)[:2]) / 2
-            dilation = self.config_inflation_dialation * self.node.config.map.resolution
+            dilation = self.config_inflation_dialation / self.node.config.map.resolution
             geometry = center.buffer(radius + dilation, quad_segs=CIRCLE_APPROXIMATION_SEGMENTS // 4)
             self._obstacles.append(geometry)
         self._obstacles_union = shapely.union_all(self._obstacles)