CollisionChecker detects a collision when robot footprint hits inscribed radius distance. · Issue #1603 · ros-planning/navigation2 · GitHub
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CollisionChecker detects a collision when robot footprint hits inscribed radius distance. · Issue #1603 · ros-planning/navigation2 · GitHub
map, odom, robot footprint are not aligned in RViz - ROS Answers: Open Source Q&A Forum
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.jpg "The Shrinking Footprint of Robot Safety")
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Building 2D and 3D models of the robot body - ROS Robotics Projects [Book]
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