diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
index 796c2fd62f..8cbe8dacc9 100644
--- a/nav2_costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -170,6 +170,16 @@ InflationLayer::onFootprintChanged()
   computeCaches();
   need_reinflation_ = true;
 
+  if (inflation_radius_ < inscribed_radius_) {
+    RCLCPP_ERROR(
+      logger_,
+      "The configured inflation radius (%.3f) is smaller than "
+      "the computed inscribed radius (%.3f) of your footprint, "
+      "it is highly recommended to set inflation radius to be at "
+      "least as big as the inscribed radius to avoid collisions",
+      inflation_radius_, inscribed_radius_);
+  }
+
   RCLCPP_DEBUG(
     logger_, "InflationLayer::onFootprintChanged(): num footprint points: %zu,"
     " inscribed_radius_ = %.3f, inflation_radius_ = %.3f",