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How to choose different robot footprint type for DWA_local_planner

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

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,

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answered 2018-02-02 06:29:29 -0600

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]]

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

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Last updated: Feb 02 '18