February 2018
Beginner
580 pages
13h 20m
English
Content preview from Mastering ROS for Robotics Programming - Second Edition
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
Start your free trial
Displaying the robot footprint
We have defined the robot footprint in the configuration file called costmap_common_params.yaml. This robot has a circular shape, and we have given the radius as 0.45 meters. It can visualize using the Polygon display type in RViz. The following is the circular footprint of the robot around the robot model and its topics:
- Topic: /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped
- Topic: /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped
- Type: geometry_msgs/Polygon
Figure 16: Global and local robot footprint in RViz