From bd47a9415537c273be75c5fe7b105e59c354c429 Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar.1997@gmail.com>
Date: Fri, 8 Sep 2023 02:35:17 +0200
Subject: [PATCH] Fix `min_points` comparison check (#3795)

* Fix min_points checking
---
 nav2_collision_monitor/src/collision_detector_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
index e12d9795db..98433ead04 100644
--- a/nav2_collision_monitor/src/collision_detector_node.cpp
+++ b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -314,7 +314,7 @@ void CollisionDetector::process()
     state_msg->polygons.push_back(polygon->getName());
     state_msg->detections.push_back(
       polygon->getPointsInside(
-        collision_points) > polygon->getMinPoints());
+        collision_points) >= polygon->getMinPoints());
   }
 
   state_pub_->publish(std::move(state_msg));