Update footprint in costmap config

nkuwenjian · Oct 29, 2023 · 03af87a · 03af87a
1 parent 49edc66
commit 03af87a
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/lattice_path_planner/tf_broadcaster.cc b/lattice_path_planner/tf_broadcaster.cc
@@ -66,7 +66,11 @@ class TfBroadcaster {
   std::unique_ptr<std::thread> transform_thread_ = nullptr;
 };
 
-TfBroadcaster::~TfBroadcaster() { transform_thread_->join(); }
+TfBroadcaster::~TfBroadcaster() {
+  if (transform_thread_ != nullptr) {
+    transform_thread_->join();
+  }
+}
 
 void TfBroadcaster::Initialize() {
   start_sub_ = nh_.subscribe("initialpose", 1, &TfBroadcaster::SetStart, this);

diff --git a/params/costmap_common_params.yaml b/params/costmap_common_params.yaml
@@ -1,7 +1,8 @@
 ---
 #---standard pioneer footprint---
 #---(in meters)---
-robot_radius: 0.25
+# robot_radius: 0.25
+footprint: [[-0.23, -0.2], [-0.23, 0.2], [0.23, 0.2], [0.23, -0.2]]
 footprint_padding: 0.01
 
 transform_tolerance: 0.2