# Revision history [back]

The full parameters to gmapping are documented on the gmapping wiki page.

The map_update_interval parameter controls how frequently gmapping publishes a new version of the map (in seconds), so if you want to see an updated map more frequently, decrease this.

The linearUpdate and angularUpdate parameters control how far your robot must move (in meters and radians, respectively) before gmapping adds a new scan to the map. It seems like your linearUpdate is ok, but if your robot gets lost or misses scans when turning, you should decrease the angularUpdate parameter.