From 22dfaa568910cdff11b0db159e62b69181fe17b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 17 Aug 2023 12:36:08 +0200
Subject: [PATCH] updated footprint

---
 config/nav2_params.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 25cbd27..ac0f51e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -191,7 +191,8 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.05
-      robot_radius: 0.50
+      #robot_radius: 0.50
+      footprint: "[ [0.21, 0.195], [0.21, -0.195], [-0.21, -0.195], [-0.21, 0.195] ]"
       plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"