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{
-- 
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