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I recently ran in the same problem and summarized all I found out in this post There are two main points: 1. align coordinate system, taking into account that .yaml origin gives coordinates of lower left point in the image, while .worlds's pose gives coordinates of the centre of the map.

  1. add a black border around the image, because otherwise it would be trimmed by Stage

I recently ran in the same problem and summarized all I found out in this post There are two main points:
1. align coordinate system, taking into account that .yaml origin gives coordinates of lower left point in the image, while .worlds's pose gives coordinates of the centre of the map.


  1. 2. add a black border around the image, because otherwise it would be trimmed by Stage