Hello,
I am simulating an amr that moves inside an environment. The robot trasports an object O from A to B. When the robot meets O get linked with O and should increase its footprint. Is there a way to enlarge the footprint after the rendezvous?
Thanks
Salvatore
Hi, according to Steve Macenski, you can change the footprint by publishing directly to the topics:
/local_costmap/published_footprint
/global_costmap/published_footprint
Whatever you publish there will be used by the costmaps to navigate.
1 Like
Hello roadgoal,
thank you for your reply.
Salvatore