Square-shaped footprint or Pentagon-Shaped footprint [closed]

asked 2012-12-06 18:17:39 -0600

moyashi gravatar image

updated 2012-12-06 18:19:59 -0600

I'm using nav stack and tuning some parameters.
Could you tell me why some examples of a footprint take a pentagon-shaped footprint?
(eg. Turtlebot default value, and wiki(http://www.ros.org/wiki/costmap_2d))

I think square-shaped one is enough.
Does pentagon-shaped one lead to better performance?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-09-18 18:59:23.340493