From 5408eaf781c433dd17bcad16d6f6c9f94a5769e7 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Tue, 15 Nov 2022 16:17:55 +0100 Subject: [PATCH] Added 0.25 to max_radius --- src/ackermann_planner.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ackermann_planner.cpp b/src/ackermann_planner.cpp index 4087d5c..0059999 100644 --- a/src/ackermann_planner.cpp +++ b/src/ackermann_planner.cpp @@ -257,8 +257,8 @@ base_local_planner::Trajectory AckermannPlanner::find_best_path(geometry_msgs::P for(double angle=0;angle<2*3.14159;angle+=0.1) { geometry_msgs::Point new_point; - new_point.x=max_radius*cos(angle); - new_point.y=max_radius*sin(angle); + new_point.x=(max_radius+0.25)*cos(angle); + new_point.y=(max_radius+0.25)*sin(angle); circular_footprint.push_back(new_point); } do{ -- GitLab