Comments (4)
bigsuperZZZX
commented on June 24, 2024
Sorry, I don't quite understand your first sentence, what's the word "footprint" mean?
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Pallav1299
commented on June 24, 2024
Sorry, I don't quite understand your first sentence, what's the word "footprint" mean?
@bigsuperZZZX, "footprint" refers to the robot_footprint from ROS navigation stack. This basically means the dimensions of the robot.
So to elaborate, how are we telling the planner about the robot dimensions? Is it considering a point model?
With the default planner configuration, I witnessed quite a lot of collisions in simulation tests.
Since I couldn't find a parameter for the robot_footprint, that's when I started comparing it to the ROS Navigation stack.
In order to reduce the collisions, I increased the obstacle inflation param in the advanced_param.xml, which I don't think is generally right to do. How do you define the robot dimensions to the planner?
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bigsuperZZZX
commented on June 24, 2024
In fact, we use a point model and the obstacle inflation is the right way to define the "footprint".
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Pallav1299
commented on June 24, 2024
@bigsuperZZZX, thanks for the answer.
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