Currently everything is hard-coded to read the param /footprint. We should consider the possibility of the parameter not being published (and not crash). The parameter name could also be either customizable in the config or even better we could remove the concept of footprint altogether and support geometry_msgs::PolygonStamped (as it's done in rviz)
Currently everything is hard-coded to read the param
/footprint. We should consider the possibility of the parameter not being published (and not crash). The parameter name could also be either customizable in the config or even better we could remove the concept of footprint altogether and supportgeometry_msgs::PolygonStamped(as it's done in rviz)