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_sources/configuration/packages/configuring-costmaps.rst.txt

@@ -44,7 +44,7 @@ Costmap2D ROS Parameters
   ============== =======
 
   Description
-    Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape.
+    Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape. If this parameter is set, ``isPathValid`` will do full collision checking.
 
 :global_frame:
 
@@ -176,7 +176,7 @@ Costmap2D ROS Parameters
   ============== =======
 
   Description
-    Robot radius to use, if footprint coordinates not provided.
+    Robot radius to use, if footprint coordinates not provided. If this parameter is set, ``isPathValid`` will do circular collision checking.
 
 :rolling_window:
 

configuration/packages/configuring-costmaps.html

@@ -1070,7 +1070,7 @@ <h2>Costmap2D ROS Parameters<a class="headerlink" href="#costmap2d-ros-parameter
 </tbody>
 </table>
 <dl class="simple">
-<dt>Description</dt><dd><p>Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters <cite>footprint: “[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]”</cite>. Note that this can also be adjusted over time using the costmap’s <code class="docutils literal notranslate"><span class="pre">~/footprint</span></code> topic, which will update the polygon over time as needed due to changes in the robot’s state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot’s shape.</p>
+<dt>Description</dt><dd><p>Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters <cite>footprint: “[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]”</cite>. Note that this can also be adjusted over time using the costmap’s <code class="docutils literal notranslate"><span class="pre">~/footprint</span></code> topic, which will update the polygon over time as needed due to changes in the robot’s state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot’s shape. If this parameter is set, <code class="docutils literal notranslate"><span class="pre">isPathValid</span></code> will do full collision checking.</p>
 </dd>
 </dl>
 </dd>
@@ -1310,7 +1310,7 @@ <h2>Costmap2D ROS Parameters<a class="headerlink" href="#costmap2d-ros-parameter
 </tbody>
 </table>
 <dl class="simple">
-<dt>Description</dt><dd><p>Robot radius to use, if footprint coordinates not provided.</p>
+<dt>Description</dt><dd><p>Robot radius to use, if footprint coordinates not provided. If this parameter is set, <code class="docutils literal notranslate"><span class="pre">isPathValid</span></code> will do circular collision checking.</p>
 </dd>
 </dl>
 </dd>