找到 costmap_common_params.yaml,修改成如下形式:
#robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
footprint: [ [0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1] ] # if the robot is not circular
找到 costmap_common_params.yaml,修改成如下形式:
#robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
footprint: [ [0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1] ] # if the robot is not circular