• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • ROS2 Foxy, binaries
• Version or commit hash:
  • ros-foxy-navigation2
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

Just run the planner with default configurations but increse the footprint of the robot to 1 x 1.5 meters.

Expected behavior

Robot should navigate and if there is an obstacle next to it, trigger the collision check to true and stop the robot

Actual behavior

When visualizing the arc, it actually starts from the base_link (middle of the robot) and the length of the arc does not go beyond the footrpint as the footprint is so long. Therefore, in many cases the planner fails to detect the collision

Additional information

I am not sure whether it is a bug as I was not able to properly understand. In README the picture has some lookeahead radius and I presume that the arc should start from the footprint and not from the base link, otherwise, we would need to set the lookahead time to a very large number for the arc to check the collisions beyound the footprint