From 6ee28d02e33ffb76f85ae888cf66018fbc33bc95 Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar.1997@gmail.com>
Date: Mon, 9 Dec 2024 09:48:51 +0100
Subject: [PATCH] fail if out of bounds

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
---
 nav2_costmap_2d/src/costmap_2d_ros.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index f834c8791a..a35a1786bb 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -861,6 +861,7 @@ void Costmap2DROS::getCostsCallback(
         pose_transformed.pose.position.y, mx, my);
 
       if (!in_bounds) {
+        response->success = false;
         response->costs.push_back(LETHAL_OBSTACLE);
         continue;
       }