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Does gmapping resize the map if required?

asked 2016-02-16 04:11:55 -0500

Alex1209 gravatar image

I'm using gmapping. The default map-size is a 4000x4000 cells (200m x 200m) occupancy grid map stored in a 1x16,000,000 1D array.

What happens if I make the default map-size a 200x200 cells map (10m x 10m) and the map has to be extended in action? Does gmapping do this itself or would this be a problem?

Thanks for your help. Alex

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answered 2016-02-16 04:17:22 -0500

Yes, Gmapping allows for map growth. I also believe it uses a tiled map representation behind the scenes (see HierarchicalArray2D), so it should be multiple 1D arrays instead of one (with additional ones being added when the map grows).

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Thanks for the quick answer.

Your answer brings up another question to me: The published topic "map" is of type "occupancy grid" which uses int8[] for data. Is the HierarchicalArray2D also used there? Or only for internal calculation?

Alex1209 gravatar image Alex1209  ( 2016-02-16 05:10:24 -0500 )edit

The hierarchical grid is only used internally. It is converted to a standard ROS occupancy grid message.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-02-16 05:20:02 -0500 )edit

Thanks a lot for your quick answers.

Alex1209 gravatar image Alex1209  ( 2016-02-16 06:37:32 -0500 )edit

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Asked: 2016-02-16 04:11:55 -0500

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Last updated: Feb 16 '16