# Revision history [back]

I'm using Kinect and compared to the default settings, changing these parameters has improved my map quality.

rosparam set /slam_gmapping/angularUpdate 0.1
rosparam set /slam_gmapping/linearUpdate 0.1
rosparam set /slam_gmapping/lskip 10
rosparam set /slam_gmapping/xmax 10
rosparam set /slam_gmapping/xmin -10
rosparam set /slam_gmapping/ymax 10
rosparam set /slam_gmapping/ymin -10


Just change your launch file's parameter values with these if you want the change to be permanent. Other than tuning the parameters, moving at a slower speed can also improve the map quality.