footprint and footprint_padding for move_base
I am confused by the differences of footprint and footprint_padding. May anyone give me an explanation or link of tutorial?
From rviz visualization, in costmap_common, if I set
footprint: [[0.1, -0.1], [0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1]], footprint_padding: 0.11
it is same as: footprint: [[0.2, -0.2], [0.2, 0.2], [-0.2, 0.2], [-0.2, -0.2]], footprint_padding: 0.01
However, the GlobalPlaner's plan result is different. Can footprint_padding be 0?
May I also ask what algorithm the move_base is using to detect if there is any "occupied" map pixel is within the footprint box or circle?
Thanks!