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Where can I change the size and form of the Robot at the SBPL Lattice Planner

asked 2014-05-15 12:25:46 -0600

Ico gravatar image

Where can I change the size and form of the Robot at the SBPL Lattice Planner?

I would like that the Robot looks more like a car, and not so circle-formed.

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answered 2014-05-15 21:08:45 -0600

You can set the robot footprint as described here in the navigation stack robot setup tutorial. If you look at the actual code in sbpl_lattice_planner.cpp, you´ll see that the footprint provided by the costmap is used there (lines 117 and 139).

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Yes, I found that, but I don't really understand that. How could I change the code so that the robot would be rectangle?

Ico gravatar image Ico  ( 2014-05-16 01:26:24 -0600 )edit

to have a rectangular robot that is 30x20cm you´d use footprint: [[-0.15, 0.1], [0.15, 0.1], [0.15, -0.1], [-0.15, -0.1]] (Haven´t tried that myself, but the idea should be clear)

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-05-16 04:59:16 -0600 )edit

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Asked: 2014-05-15 12:25:46 -0600

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Last updated: May 15 '14