Hello,

I'm using slam_toolbox in ROS 2 Humble with the turtlebot3 burger bot (no modifications from default). I noticed that free space is added to the map only between the robot and an obstacle. When there is no obstacle in view of the LiDAR (such as when away from the walls in a room larger than LiDAR range of 3.5m) the mapping doesn't do anything. This makes building maps of rooms larger than 3.5m x 3.5m very time consuming as numerous travels across the room is required to slowly expand the free space in the map towards the middle of the room.

Is there any setting in slam_toolbox to allow not having any obstacle within LiDAR's range result in the area covered by the LiDAR range marked as free space on the map?

Thank you, Vishal