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How to choose different robot footprint type for DWA_local_planner [closed]

asked 2017-11-06 04:42:11 -0600

Mobile_robot

264 ●34 ●40 ●43

Hi folks,

I wanted to know how the DWA_local_planner computes (or chooses) the foorprint of the robot? is it a dot (or a circle based on the inflation added to the robot)? If yes, my question is that is it possible to give another type of the robot's foot print to the DWA_local_planner? (for example by line or two circle, something like the TEB_local_planner?

Thanks in advance,

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