Vehicle Profile

Vehicle profiles describe geometry and sensor layout differences between OSRacer variants.

Outline

1. Why footprint matters.
2. How footprint affects costmaps.
3. OSRC109 footprint.
4. OSRC110 footprint.
5. Sensor TF configuration.
6. How to verify footprint and TF in RViz.

Validation checklist

• The footprint covers the real chassis.
• base_link is placed consistently.
• Lidar scans align with the environment.
• Costmaps remain stable during turns.