Question about considering size of robot

[guactaco12]

Hi there, thanks for your great work and contribution in advance!

I notice that the current implementation of graph does not consider actual robot size. Is it possible to implement the graph to consider robot size such as considering the collision radius and filter out nodes and edges? If so, where would be the best place to add such thing?

Thanks again!

[caoyuhong001]

Hi, I would like to suggest that you inflate the obstacle in the map. This may be the easiest way to deal with the size of the robot.