Change footprint from radius to octagon of similar size (#592)

Author: pradyum

turtlebot4_navigation/config/nav2.yaml

@@ -135,7 +135,15 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.06
-      robot_radius: 0.175
+      #robot_radius: 0.175
+      footprint: "[[ 0.189,  0.000],
+                  [ 0.134, -0.134],
+                  [ 0.000, -0.189],
+                  [-0.134, -0.134],
+                  [-0.189,  0.000],
+                  [-0.134,  0.134],
+                  [ 0.000,  0.189],
+                  [ 0.134,  0.134]]"
       plugins: ["static_layer", "voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
@@ -174,7 +182,15 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      robot_radius: 0.175
+      #robot_radius: 0.175
+      footprint: "[[ 0.189,  0.000],
+                  [ 0.134, -0.134],
+                  [ 0.000, -0.189],
+                  [-0.134, -0.134],
+                  [-0.189,  0.000],
+                  [-0.134,  0.134],
+                  [ 0.000,  0.189],
+                  [ 0.134,  0.134]]"
       resolution: 0.06
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]