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Hi Tirjen,

    Here is my launch file:
    <launch>
    <param name="use_sim_time" value="false"/>
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="maxUrange" value="30.0"/>
    <param name="delta" value="0.01"/>  
</node>

</launch> You know that although I have changed the parameters, the map was not 1000 * 1000 but a very strange size. In addition, I want to change the map to look more suitable for my html canvas, but there are so many unknown regions that surrounds the map(the gray one), that makes me crazy.

Best Regards!

Gerald