# How can I change the map size and the origin?

Dear all,

   I have made a map successfully,but it was not so good. How can I change the map size through the gmapping parameters?
The map is useless because there are so many unknown regions , so the map looks so little in the middle of the picture. Although I modified the parameter (max_Range, max_Urange ,x_min and  so on（gmapping）)，but I still can not get a good result.
Now my map ：pan.baidu.com/s/1jGwnoto .
the map I really want is just like : pan.baidu.com/s/1eQzdnea (sorry that's a link, please copy it).


By the way, How can I make the origin(.yaml file) [0 0 0]?

Best Regards!

Gerald

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You have to change the xmin, ymin, xmax, ymax parameters, maxRange and maxUrange (without underscore) are for laser!! You can find the complete list of parameters here.

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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

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