Show also the actual footprint at infeasible poses

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

http://wiki.ros.org/teb_local_planner

BSD 3-Clause "New" or "Revised" License

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Show also the actual footprint at infeasible poses #394

Closed corot closed 1 year ago

corot commented 1 year ago

Useful to detect when the footprint model is not accurate enough I chose not to use a parameter, as either visualization can be disabled by clicking the marker namespace, as shown in the video:

red: footprint model (as before)
orange: actual footprint

https://user-images.githubusercontent.com/322610/217402422-613ab552-db5b-4005-9b7c-f699f93ef6d4.mp4