will the parameter padded_footprint_ be increased with the cycles? [closed]

asked 2017-09-20 05:03:05 -0600

in costmap_2d_ros.cpp,when we call the function updateMap(),it will publish the footprint with the cycle,and then,we will always call the funtcion setUnpaddedRobotFootprintPolygon().is that right?

and I found that the parameter padded_footprint_ will be increase with the cycle under the influence of the function transformFootprint() in footprint.cpp here is the code and the function setUnpaddedRobotFootprint() in costmap_2d_ros.cpp code .Did I misunderstand?

I actually don't know why we need to transform footprint

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Closed for the following reason question is not relevant or outdated by pengjiawei
close date 2018-01-09 21:54:37.658009