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Okay I think I get that, thanks by the way. So the map is 4000 X 4000 occupancy ... I need to find the index where the robot is. So do I take the maps resolution and that is how I would find the array index for the robot? I think (thanks to your previous answer) I can get the relative coordinates which I need. But I don't know exactly how to transfer that into the occupancy grid space. For that matter I don't even know what indexes gslam starts making the map. (I would assume somewhere in the middle).

Thanks in advanced. BM