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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:
My footprint should be: [[-10, -20], [10, -20], [10, 20], [-10,20]].
Hope this can help you!
For move_base, these values should be in units of meters. @Ronro Your example shows a very, very large robot.
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.
I was asking about the coordinates of my robot footprint specifically, but this also helped me get a clearer view so thank you!
Asked: 2021-09-04 05:36:19 -0600
Seen: 807 times
Last updated: Sep 08 '21
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