[问题]You must specify at least three points for the robot footprint,reverting to previous footprint 的

[问题]You must specify at least three points for the robot footprint,reverting to previous footprint 的解决办法

找到 costmap_common_params.yaml，修改成如下形式：

#robot_radius: 0.20  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)

footprint: [ [0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1] ]  # if the robot is not circular

转自链接：https://hacpai.com/article/1479201819338