From bf18d3ae8b014b978c96c3e99a81a8a85d73349e Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 17 Nov 2022 15:03:20 -0800
Subject: [PATCH] adding getCostScalingFactor (#3290)

---
 nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp | 5 +++++
 nav2_costmap_2d/plugins/inflation_layer.cpp                 | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
index 5f68dcaed12..c330cd4ef6c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
@@ -172,6 +172,11 @@ class InflationLayer : public Layer
     return access_;
   }
 
+  double getCostScalingFactor()
+  {
+    return cost_scaling_factor_;
+  }
+
 protected:
   /**
    * @brief Process updates on footprint changes to the inflation layer
diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
index 796c2fd62f7..067877e5484 100644
--- a/nav2_costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -442,7 +442,7 @@ InflationLayer::dynamicParametersCallback(
         need_reinflation_ = true;
         need_cache_recompute = true;
       } else if (param_name == name_ + "." + "cost_scaling_factor" && // NOLINT
-        cost_scaling_factor_ != parameter.as_double())
+        getCostScalingFactor() != parameter.as_double())
       {
         cost_scaling_factor_ = parameter.as_double();
         need_reinflation_ = true;