The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
I recommend you to be familiar with the costmap to understand the behavior it's interesting, check the wiki.
If you increase your footprint size then your footprint is getting closer to the obstacles hence to collision zones so the robot decreases its speed to avoid that.
On the contrary, if you decrease the footprint size when getting closer to an obstacle, then you won't get closer to the collision zones defined by the costmap so the speed won't decrease (it would even increase if you're reducing your footprint faster than getting closer to an obstacle).
Someone already asked a similar question you should check the answer it might help you.
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.
