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How can I find the appropriate robot footprint?

asked 2021-09-04 05:41:43 -0500

ROS_newbie gravatar image

Hello all, I'm starting out in ROS and trying to set up my nav stack correctly. I'm trying to figure out on how to specify my robot's footprint and request some help. Thank you :D

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answered 2021-09-07 16:19:21 -0500

Ronro gravatar image

updated 2021-09-08 02:48:50 -0500

gvdhoorn gravatar image

If you want to set up the footprint of a "non-comercial" robot (DIY) you should write down the coordinates on the common costmaps yaml. I have a rectangular sized robot with the base_link frame at the center of that rectangle, so I have 4 coordinates written in counterclockwise direction. So, for example, if I have something like this:

image description

My footprint should be: [[-10, -20], [10, -20], [10, 20], [-10,20]].

Hope this can help you!

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Thank you for the clear explanation!

ROS_newbie gravatar image ROS_newbie  ( 2021-09-08 08:04:28 -0500 )edit

For move_base, these values should be in units of meters. @Ronro Your example shows a very, very large robot.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-09-08 12:15:07 -0500 )edit

Yeah! You are completely right! The correct footprint should be: [[-0.1, -0.2], [0.1, -0.2], [0.1, 0.2], [-0.1, 0.2]] Massive thanks, buddy! @MikeScheutzow

Ronro gravatar image Ronro  ( 2021-09-08 13:22:47 -0500 )edit

answered 2021-09-05 18:36:17 -0500

KroNton gravatar image

updated 2021-09-05 18:37:09 -0500


you can find it in the urdf file of your robot

or you can simply run the following command after spawning your robot in gazebo

rosrun rqt_tf_tree rqt_tf_tree

you will find it in the top of the tf tree like in the following image "base_link" is the robot footprint.

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I was asking about the coordinates of my robot footprint specifically, but this also helped me get a clearer view so thank you!

ROS_newbie gravatar image ROS_newbie  ( 2021-09-08 08:05:58 -0500 )edit

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Asked: 2021-09-04 05:36:19 -0500

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Last updated: Sep 08 '21