How do I add the robot footprint area to the map?

Hi, I am using slam-gmapping and navigation stack with a differential robot and a hokuyo URG-04LX-UG01. The robot I use is about 0.5X0.5 m^2 in size. When I mapping with gmapping, I would like to add the robot footprint area to the freespace into the 2D map for each map update period. Is there any suggestion for this purpose?

Thanks all.

Asked by Murat on 2019-11-26 09:44:28 UTC

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were you able to figure something out?? I am trying to implement the same functionality

Asked by ashwin on 2021-10-24 01:48:55 UTC

How do I add the robot footprint area to the map?

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