From e1b218c0a9171803e7398860583b46958bb9e528 Mon Sep 17 00:00:00 2001
From: Alexander Xydes <6345526+axydes@users.noreply.github.com>
Date: Fri, 6 Mar 2020 18:19:53 -0800
Subject: [PATCH] costmap_ros is a pointer and adding namespace to new
 function.

---
 mpc_local_planner/src/mpc_local_planner_ros.cpp | 4 ++--
 1 file changed, 2 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 b1e1fb0..0593a65 100644
--- a/mpc_local_planner/src/mpc_local_planner_ros.cpp
+++ b/mpc_local_planner/src/mpc_local_planner_ros.cpp
@@ -984,11 +984,11 @@ teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintF
     return boost::make_shared<teb_local_planner::PointRobotFootprint>();
 }
 
-teb_local_planner::RobotFootprintModelPtr getRobotFootprintFromCostmap2d()
+teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintFromCostmap2d()
 {
     Point2dContainer footprint;
     Eigen::Vector2d pt;
-    geometry_msgs::Polygon polygon = _costmap_ros.getRobotFootprintPolygon();
+    geometry_msgs::Polygon polygon = _costmap_ros->getRobotFootprintPolygon();
 
     for (int i = 0; i < polygon.points.size(); ++i)
     {