Can't find robot footprint?

asked 2016-03-17 10:25:09 -0500

pgigioli gravatar image

updated 2016-03-17 10:33:54 -0500

When I run gmapping_demo.launch for my turtlebot2, I get the error "You must specify at least three points for the robot footprint, reverting to previous footprint" even though my footprint should be set. In my costmap_common_params.yaml, I have robot_radius set to 0.18. When I echo the /move_base/local_costmap/footprint topic I get:

header: 
  seq: 206
   stamp: 
     secs: 1458227575
     nsecs: 605247230
   frame_id: odom
 polygon: 
   points: 
- 
  x: 0.189999997616
  y: 0.0
  z: 0.0
- 
  x: 0.176298320293
  y: 0.0788830146194
  z: 0.0
- 
  x: 0.137279227376
  y: 0.137279227376
  z: 0.0
- 
  x: 0.0788830146194
  y: 0.176298320293
  z: 0.0
- 
  x: 0.00999999977648
  y: 0.189999997616
  z: 0.0
- 
  x: -0.0788830146194
  y: 0.176298320293
  z: 0.0
- 
  x: -0.137279227376
  y: 0.137279227376
  z: 0.0
- 
  x: -0.176298320293
  y: 0.0788830146194
  z: 0.0
- 
  x: -0.189999997616
  y: 0.00999999977648
  z: 0.0
- 
  x: -0.176298320293
  y: -0.0788830146194
  z: 0.0
- 
  x: -0.137279227376
  y: -0.137279227376
  z: 0.0
- 
  x: -0.0788830146194
  y: -0.176298320293
  z: 0.0
- 
  x: -0.00999999977648
  y: -0.189999997616
  z: 0.0
- 
  x: 0.0788830146194
  y: -0.176298320293
  z: 0.0
- 
  x: 0.137279227376
  y: -0.137279227376
  z: 0.0
- 
  x: 0.176298320293
  y: -0.0788830146194
  z: 0.0

Anyone know how to fix this?

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Comments

Hi,

i am receiving same error for gmapping. have you got fixed your issue then please help me.

noor gravatar imagenoor ( 2019-09-25 01:15:23 -0500 )edit

Please don't answer questions with a new question. Moreover the question is 3 years old so you probably won't have an answer.

Please search other questions related on this site and if you don't find any answer ask a new one describing your problem and providing everything to reproduce your error so that people cna help you.

Delb gravatar imageDelb ( 2019-09-25 02:14:00 -0500 )edit

ok thanx. i ll post my problem in new thread.

noor gravatar imagenoor ( 2019-09-25 04:14:37 -0500 )edit