Footprint param behavior in hydro-devel not fully backwards-compatible. #63
In groovy nav, you could put your footprint param in the costmaps and they would read it. In hydro nav, the costmaps subscribe to the footprint as a topic. The costmaps no longer read the rosparam. move_base now looks for a rosparam for the footprint and publishes it if it finds one. However it is looking in the move_base namespace and above, which misses the footprints described in the costmap namespaces.
Move the footprint-param-reading calls into costmap_2d_ros.
referenced this issue
May 29, 2013
I propose fixing this by:
The new behavior would be that footprints would be read from rosparams initially, but could be changed either by dynamic-reconfigure or by Polygon messages published to the appropriate topic.
This would be more backwards-compatible but still leave the nice feature of footprint-via-topic.
What do you think, @DLu (and anyone else)?
Is the existing footprint publication by move_base (in hydro nav) important for anything else other than sending the footprint to the costmaps?
I think this is an excellent compromise. There is no additional benefit to