The cob_footprint_observer package adjusts the footprint of the robot based on the setup (e.g. arm and/or tray).
cob_footprint_observer is adjusting the footprint of cob_collision_velocity_filter based on current setup of the robot.
The cob_footprint_observer node reads an initial footprint from a source to be specified (needs to be the same as for cob_collision_velocity_filter). It observes the setup of the robot including arm and tray and inflates the footprint to contain the arm and the tray. It then provides a GetFootprint service and publishes the adjusted footprint to a topic.