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This answer is written on here( http://docs.ros.org/hydro/api/costmap_2d/html/classcostmap__2d_1_1Costmap2DROS.html#add1c9e06ffbae7fecc956c3c377f869e ).
Return the current footprint of the robot as a vector of points.This version of the footprint is padded by the footprint_padding_ distance, set in the rosparam "footprint_padding".The footprint initially comes from the rosparam "footprint" but can be overwritten by dynamic reconfigure or by messages received on the "footprint" topic.