ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

What does getRobotFootprint() refer?

asked 2014-06-27 00:53:51 -0500

Ken_in_JAPAN gravatar image

There is a function footprintCost() in carrot_planner.cpp

  double CarrotPlanner::footprintCost(double x_i, double y_i, double theta_i){
      ROS_ERROR("The planner has not been initialized, please call initialize() to use the planner");
      return -1.0;
    std::vector<geometry_msgs::point> footprint = costmap_ros_->getRobotFootprint();
    //if we have no footprint... do nothing
    if(footprint.size() < 3)
      return -1.0;

    //check if the footprint is legal
    double footprint_cost = world_model_->footprintCost(x_i, y_i, theta_i, footprint);
    return footprint_cost;

The thing I want to know is a part of footprint.size(). I think that costmap_common_params.yaml has footprint like this vector.

footprint: [[0.18, 0.18],[0.18, -0.18],[-0.18,-0.18],[-0.18,0.18]]

So, I have to set above footprint instead of robot_radius. But global_planner doesn't need the footprint.
Am I correct?

edit retag flag offensive close merge delete


Does the footprint mean x, y, theta?

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-06-30 12:25:49 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2014-07-16 19:01:32 -0500

Ken_in_JAPAN gravatar image

This answer is written on here( ).
Return the current footprint of the robot as a vector of points.This version of the footprint is padded by the footprint_padding_ distance, set in the rosparam "footprint_padding".The footprint initially comes from the rosparam "footprint" but can be overwritten by dynamic reconfigure or by messages received on the "footprint" topic.

edit flag offensive delete link more


hello,Ken, in my turtlebot_navigation/costmap_common_params.yaml,footprint was defined by robot_radius: 0.18,do you know how many points it used to define the circle shape ?

jxl gravatar image jxl  ( 2015-06-15 21:02:18 -0500 )edit

Question Tools

1 follower


Asked: 2014-06-27 00:53:51 -0500

Seen: 785 times

Last updated: Jul 16 '14