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feat: display robot footprint in local planning view#130

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xiaole/feat/footprint-frontend
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feat: display robot footprint in local planning view#130
xiaolefang-dm wants to merge 1 commit intomainfrom
xiaole/feat/footprint-frontend

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@xiaolefang-dm xiaolefang-dm commented May 1, 2026 •
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  • Backend: subscribe to /planning/footprint PointCloud, extract corner points and include in WS planning snapshot
  • Frontend: add footprint field to PlanningState model
  • Frontend: draw blue rectangle footprint in LocalPlanningPainter + shrink robot arrow
  • Frontend: add Footprint toggle in Layers panel
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github-actions Bot commented May 1, 2026

cloc github.com/AlDanial/cloc v 2.04 T=0.17 s (251.9 files/s, 37039.9 lines/s)
Language files blank comment code
Python 13 613 262 3399
Markdown 4 155 6 426
C++ 4 60 38 409
Bourne Shell 15 41 9 272
Dockerfile 1 30 29 191
JSON 2 8 0 58
TOML 1 4 0 57
make 1 18 15 55
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 42 933 359 4884

@xiaolefang-dm
feat: display robot footprint in local planning view
8f8952f 
- Backend: subscribe /planning/footprint PointCloud, extract corner points
- Backend: include footprint in planning WS snapshot
- Frontend: add footprint field to PlanningState model
- Frontend: draw footprint as blue rectangle in LocalPlanningPainter
- Frontend: shrink robot arrow to fit inside footprint
- Frontend: add Footprint layer toggle in operate tab
@xiaolefang-dm xiaolefang-dm force-pushed the xiaole/feat/footprint-frontend branch from f906b59 to 8f8952f Compare May 1, 2026 03:48
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github-actions Bot commented May 1, 2026

cloc github.com/AlDanial/cloc v 2.04 T=0.17 s (247.4 files/s, 36381.8 lines/s)
Language files blank comment code
Python 13 613 262 3399
Markdown 4 155 6 426
C++ 4 60 38 409
Bourne Shell 15 41 9 272
Dockerfile 1 30 29 191
JSON 2 8 0 58
TOML 1 4 0 57
make 1 18 15 55
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 42 933 359 4884

@xiaolefang-dm xiaolefang-dm requested a review from dvorak0 May 1, 2026 09:21
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