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Robot Operating System Cookbook by Kumar Bipin

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Robot's footprint

This shows the footprint of the robot where the width and height parameters of the robot are configured in the costmap_common_params file. Thus, this dimension is important because the navigation stack can use it to avoid collisions:

  • Topic: local_costmap/robot_footprint
  • Type: geometry_msgs/Polygon

The following screenshot shows the footprint of our robot:

Robot footprint

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