Extending map dynamically

asked 2018-01-23 11:20:11 -0500

opo gravatar image


I am currently using hector_mapping to map spaces. I would like to develop the functionality to resize the map on the fly whenever my robot reaches the limits of the map. Say I start mapping with a 1024x1024 blank map but then, during the mapping process I exhaust the available pixels either by filling them all, or by reaching one of the boundaries (top, bottom, left, right). Lets say I reach the right edge of the map, I would like to resize it to say, 1920x1024 on the fly, so that I can continue mapping, without having to restart the process of feeding an empty 1920x1024 and restart mapping.

Is there a functionality like this already available? Any hints on how to implement it?

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