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teb_local_planner with skid_steer_drive car-like robot

Hi guys,i need some help when i use teblocalplanner, my robot is a four wheel car and I set the baselink at the middle of the robot. And the skidsteerdrivecontroller was chosed to drive my robot. So, how can I use the teblocalplanner with my robot. I see the teblocalplanner_tutorial has the car-like model with footprinttype:Line and Two Circles. But I don't know weather the two types are applicable to my robot.

Asked by Liudy on 2019-12-06 09:34:59 UTC

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