Bug report

When the footprint of the robot is changed using the costmap topic, the planner doesn't update the collision_checker so it can plan in obstacles. It can be seen in the /planned_footprints (they are using the costmap footprint)

The footprint is not a dynamic parameter of the planner, and it's a good point, It must retrieve it from the costmap.

Required Info:

• Operating System:
  • Ubuntu22.04
• ROS2 Version:
  • Iron
• Version or commit hash:
  • source - main
• DDS implementation:
  • cyclone

Steps to reproduce issue

1. Start the navigation
2. Change the footprint of the costmap using the topic
3. The costmap is updated
4. The collision_checker of the planner is not updated

Expected behavior

The planner updates the collision_checker and the path doesn't go into obstacles

Actual behavior

The planner doesn't update the collision_checker and the path can go into obstacles

Additional information

Note : If you change the value of the parameter angle_quantization_bins, the collision_checker is updated and the path is good.

Implementation possibilities:

• Easy and dirty: on every createPlan(), update collision_checker before setting the a_start. (tested ✔️ )
  • Strangely to work perfectly, you need to recreate the collision_checker, not just set the footprint;
• Hard and clean : Make collision_checker aware of the costmap changes.