rviz imported map resize for navigation [closed]
Hello,
I'm beginner !
I have a homemade 2d map in png file format. I didn't build this map with Rplidar or something. I can import the file into rviz, but it seems that the size of my map is way too big (in dimension) compared to what my turtlebot is watching.
So when I run some navigation, my robot moving very little on my map (in rviz), it looks like the map is bigger than it should be.
How can I resize this or configure the projection ? I couldn't find anything about this issue.
Run command:
$ roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/Maps/office_bitmap.yaml
The yaml file:
image: /home/turtlebot/Maps/office_bitmap.png
resolution: 0.05
origin: [-25.624998, -25.624998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
The ratio of my map should be 1px = 1.2635cm or 1m = 79.1452315px But I have no idea how to put this ratio into the configuration...