From 13681effd1c6e3a0ac6efe5b2a6256431c406424 Mon Sep 17 00:00:00 2001
From: gautam-sh <gtmsharma70@gmail.com>
Date: Tue, 8 Feb 2022 14:58:21 +0530
Subject: [PATCH] add missing min_obstacle_dist arg

---
 mpc_local_planner/src/mpc_local_planner_ros.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mpc_local_planner/src/mpc_local_planner_ros.cpp b/mpc_local_planner/src/mpc_local_planner_ros.cpp
index dd0214a..0271ea3 100644
--- a/mpc_local_planner/src/mpc_local_planner_ros.cpp
+++ b/mpc_local_planner/src/mpc_local_planner_ros.cpp
@@ -953,11 +953,12 @@ teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintF
                 << "/footprint_model/line_start' and/or '.../line_end' do not contain x and y coordinates (2D). Using point-model instead.");
             return boost::make_shared<teb_local_planner::PointRobotFootprint>();
         }
-
+        double min_obstacle_distance;
+        nh.getParam("collision_avoidance/min_obstacle_distance", min_obstacle_distance);
         ROS_INFO_STREAM("Footprint model 'line' (line_start: [" << line_start[0] << "," << line_start[1] << "]m, line_end: [" << line_end[0] << ","
                                                                 << line_end[1] << "]m) loaded for trajectory optimization.");
         return boost::make_shared<teb_local_planner::LineRobotFootprint>(Eigen::Map<const Eigen::Vector2d>(line_start.data()),
-                                                                         Eigen::Map<const Eigen::Vector2d>(line_end.data()));
+                                                                         Eigen::Map<const Eigen::Vector2d>(line_end.data()), min_obstacle_distance);
     }
 
     // two circles