Relation between footprint and command velocity.
I am working with a dynamic footprint, the footprint is small when the robot is close to obstacles and it gets bigger if the robot is in a free open space. when the footprint is big ,the velocity decreases that means that the velocity is way below max_velocity
even when there are no obstacles in the costmap, and if the footprint gets smaller the robot accelerates as the footprint is getting smaller and it reaches max_velocity
. Does somebody has an explanation for this behavior and can I reverse it (fp big / vel big and vice versa). I am using dwa
as local planner. Thank you in advance.