From ecf880e4af232fb4c8557542666ac8f981664c77 Mon Sep 17 00:00:00 2001 From: KishanSawant Date: Sat, 14 Jun 2025 23:19:12 +0200 Subject: [PATCH] make footprint topic relative in collision monitor while using with namespace --- turtlebot4_navigation/config/nav2.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/turtlebot4_navigation/config/nav2.yaml b/turtlebot4_navigation/config/nav2.yaml index f19cba4..c672029 100644 --- a/turtlebot4_navigation/config/nav2.yaml +++ b/turtlebot4_navigation/config/nav2.yaml @@ -309,7 +309,7 @@ collision_monitor: FootprintApproach: type: "polygon" action_type: "approach" - footprint_topic: "/local_costmap/published_footprint" + footprint_topic: "local_costmap/published_footprint" time_before_collision: 1.2 simulation_time_step: 0.1 min_points: 6 @@ -368,4 +368,4 @@ docking_server: k_phi: 3.0 k_delta: 2.0 v_linear_min: 0.15 - v_linear_max: 0.15 \ No newline at end of file + v_linear_max: 0.15