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If what you asked is robot footprint, yes, you should add geometry_msgs/PolygonStamped and subscribe to local_costmap/robot_footprint topic.
By the way, please add updates to your original post by editing, not as an answer. Also if you have a new question you can ask separately.
| | 2 | No.2 Revision |
If what you asked is robot footprint, yes, you should add geometry_msgs/PolygonStamped and subscribe to local_costmap/robot_footprint topic.
By the way, please add updates to your original post by editing, not as an answer. Also if you have a new question you can ask separately.
UPDATE
For Indigo, yes, you can subscribe to /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped for visualization in RViz. Type is again geometry_msgs/PolygonStamped
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