diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp
index 013137aa8b82c..f7b40cd178528 100644
--- a/perception/multi_object_tracker/src/data_association/data_association.cpp
+++ b/perception/multi_object_tracker/src/data_association/data_association.cpp
@@ -176,7 +176,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
         bool passed_gate = true;
         // dist gate
-        if (passed_gate) {
+        {  // passed_gate is always true
           if (max_dist < dist) passed_gate = false;
         }
         // area gate