In what situations will the robot footprint change (while move_base is running)? [closed]

asked 2013-04-05 00:07:46 -0500

weiin gravatar image

I'm running the navigation stack with a rectangular robot footprint. When I run the robot outdoors, occasionally I see the robot footprint switching suddenly to a circle for a few seconds as the robot moves towards the goal. I have not seen this happen while running the robot indoors where walls can be seen. Does anyone know when the robot footprint will do this switching? Is there anyway to prevent it?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-12-12 01:18:04.163749