June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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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