Used the oriented footprint to avoid problems with the obstacle costs.

src/ackermann_planner_ros.cpp

@@ -179,7 +179,9 @@ bool AckermannPlannerROS::ackermann_compute_velocity_commands(geometry_msgs::Pos
   drive_cmds.header.frame_id = costmap_ros_->getBaseFrameID();
 
   // call with updated footprint
-  base_local_planner::Trajectory path = dp_->find_best_path(global_pose, ackermann, drive_cmds, costmap_ros_->getRobotFootprint());
+  std::vector< geometry_msgs::Point > robot_footprint;
+  costmap_ros_->getOrientedFootprint(robot_footprint);
+  base_local_planner::Trajectory path = dp_->find_best_path(global_pose, ackermann, drive_cmds, robot_footprint);
   //ROS_ERROR("Best: %.2f, %.2f, %.2f, %.2f", path.xv_, path.yv_, path.thetav_, path.cost_);
 
   //pass along drive commands