robofsm: Use obstacle avoidance flag in fsmmove automaton

diff --git a/src/robofsm/fsmmove.cc b/src/robofsm/fsmmove.cc
index b138b5b5c15e8535972fb642ad1af0f4e391a161..a0d833a976229e9769d082ac1943e7431a82f9d5 100644 (file)
--- a/src/robofsm/fsmmove.cc
+++ b/src/robofsm/fsmmove.cc
@@ -140,7 +140,7 @@ static enum target_status new_goal(struct move_target *move_target, double start
        t->finalHeading = target2final_heading(move_target->heading);
 
        if (t->prepare(future_traj_point)) {
-               if (obstackle_in_front_if_turn(t))
+               if (robot.obstacle_avoidance_enabled && obstackle_in_front_if_turn(t))
                        ret = TARGET_INACC;
                else {
                        if (start_in_future) {