/*
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#ifndef ROBOT_NAV_2D_UTILS_FOOTPRINT_H
#define ROBOT_NAV_2D_UTILS_FOOTPRINT_H

#include <robot/node_handle.h>
#include <robot_nav_2d_msgs/Polygon2D.h>

namespace robot_nav_2d_utils
{

  /**
   * @brief Load the robot footprint either as a polygon from the footprint parameter or from robot_radius
   *
   * Analagous to robot_costmap_2d::makeFootprintFromParams in that it will return an empty polygon if neither parameter
   * is present.
   */
  robot_nav_2d_msgs::Polygon2D footprintFromParams(robot::NodeHandle &nh, bool write = true);

} // namespace robot_nav_2d_utils

#endif // ROBOT_NAV_2D_UTILS_FOOTPRINT_H
