Bug report

Required Info:

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

Steps to reproduce issue

Place the robot on an area marked as inscribed inflated obstacle.
Trigger spin recovery.

Expected behavior

The isCollisionFree function should return false when there is a collision for a given pose

Actual behavior

Currently, the function CollisionChecker::isCollisionFree returns false when the footprint of the robot enters an area marked as INSCRIBED_INFLATED_OBSTACLE.
This means that the robot would detect a collision in positions like:

Additional information

This issue was introduced by the changes in #1404.

Feature request

Feature description

Implementation considerations