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1 | initial version |
footprint
should be the actual physical size of your robot (or bounding polygon if the robot is an irregular shape.) footprint_padding
provides safety margin to help prevent collisions with nearby objects, and to restrict how narrow a corridor the robot is allowed into. Yes, you can live dangerously and set it to 0.
I can't explain why GlobalPlanner did something different. That particular change shouldn't have mattered to it.