How is the maximum obstacle cost along the forward simulated trajectory
computed by the base_local_planner?
http://www.ros.org/wiki/base_local_planner#Trajectory_Scoring_Parameters

Does it come from the costmap with the robot treated as a point?

Does this mean that the actual footprint of the robot gets used only via
the radii of the incircle and circumcircle?

If I set the inflation radius to be less than the circumscribed radius (but
greater than the inscribed radius), is it possible for the robot to collide
with obstacles?


Advait