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The base_local_planner::CostmapModel will help you do these footprint checks pretty easily. You can check out the documentation here. Basically, you'll create the CostmapModel object by passing it a reference to a costmap_2d::Costmap2D object, and then call footprintCost on it. If the cost is negative, that footprint position is in collision with an object. I should also mention that this is the internal API of the navigation stack, so stability isn't guaranteed, but things haven't changed with that code in awhile so you should probably be OK.