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

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

asked 2017-11-06 04:42:11 -0500

Mobile_robot gravatar image

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,

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by Procópio
close date 2020-03-24 05:45:00.462222

1 Answer

Sort by » oldest newest most voted

answered 2018-02-02 06:29:29 -0500

Procópio gravatar image

in your costmap config

if it is a circle you can set
robot_radius: 0.35

if it has a more complex shape, then represent is as a polygon:

footprint: [[0.1, 0.0], [0.0, 0.1], [0.0, -0.1], [-0.1, 0.0]]

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2017-11-06 04:42:11 -0500

Seen: 979 times

Last updated: Feb 02 '18