March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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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 17: global and local robot footprint in RViz