Hi mkhansen, As a robotic engineer, I would be grateful if you (and your team) improve the _GlobalPlanner_ such as it takes into account the _FootPrint_ of the robot. In the Ros1's _nav_stack_, the _GlobalPlanner_ does not take into account the footPrint which may cause some difficulties. Thanks, --- [Visit Topic](https://discourse.ros.org/t/ros2-navigation-input-requested/4884/35) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: