costmap_cspace: prevent map update region out-of-bound (#748)

at-wat · Jan 15, 2025 · 48b01ec · 48b01ec
1 parent ebf2c44
commit 48b01ec
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/costmap_cspace/include/costmap_cspace/costmap_3d_layer/base.h b/costmap_cspace/include/costmap_cspace/costmap_3d_layer/base.h
@@ -402,6 +402,7 @@ class Costmap3dLayerBase
   bool updateChainEntry(const UpdatedRegion& region, bool output = true)
   {
     region_.merge(region);
+    region_.normalize(map_->info.width, map_->info.height);
 
     auto region_prev_now = region_;
     region_prev_now.merge(region_prev_);