Tool size greater than robot size

[thundermms]

Hello I am using the room_exploration software, the boustrophedon explorator in particular. In my case the robot is actually carrying a sensor that collects data from the surrounding (humidity sensor) so it need not be considered for obstacle avoidance path planner but only used to check to get maximum coverage. For example robot_radius is 0.6, tool_radius is 1.5.

I have tested this and its not possible currently. I can help build this feature as i am interested in this, Could i get your expertise in understanding what needs to be done for this ? Is there any recommendation on where i should be starting from ?

Is there anyway to achieve this already with Field of view ?

[ipa-foj]

Hello thundermms, I don't exactly get what you are looking for. If you are interested in planning a coverage path for a sensor (for a field-of-view given as a projected 2D geometry), we offer this functionality with the fov_planning, while also giving the robot_radius to extend the obstacles to calculate poses the robot base can actually reach. Is this what you are looking for?