Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Version or commit hash:
  • master
• DDS implementation: Fast-RTPS
  • Fast-RTPS

Steps to reproduce issue

• add an obstacle near robot in gazebo simulation (close enough such that a spin movement would hit the obstacle)
• trigger spin recovery

Expected behavior

• robot will stop executing spin before it hits obstacle

Actual behavior

• robot hits obstacle before collision checker stops spin

Additional information

It seems that when I am placing the obstacle very close to the robot (but not touching or colliding) that the costmap displays the footprint intersecting the obstacle laser scans while the cells themselves are not considered occluded. This might be some issue with the laser scans and obstacle layer.