How can I set up hector navigation on my custom Robot?

[jhq1234]

Hi, I'm the new user of ROS. I've use using 'hector slam' open source from hector team. I could make cost map with using Lidar and when I set a goal point, the path is created. I have a prototype robot which is small and when I applied hector navigation code to my robot, it worked well. My final purpose is apply the hector navigation code to my big robot. But when I used hector navigation code, the robot size could not be reflected in the path. So that, the robot crash the obstacle all the time. I checked the configure file and set the robot footprint variable properly, but the path was still same. How can I apply hector navigation code to my big custom robot properly?

[Agri-Mechatronic]

Hello @jhq1234, did you make it work? I think the problem would be urdf files. Can you help me on hector navigation please, I am able to do hector slam, what do I need to do in order to navigate my robot? Thanks a lot.