Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

"Padding" is extra clearance around the footprint, which is usually used to provide some extra distance between the robot and obstacles as it is navigating.

The padFootprint() function here is taking the existing footprint and moving all of the points away from the centroid of the footprint by the specified amount in both x and y.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.