HelloAll,

I am trying to build a map from ENV using gmaping. The problem is that a part of shape is rotated in the created map. I played a lot with parameters but could not solve this issue.

As you see in picture point A and B are the same spots in ENV. but in the map they are separated. The square part of the map at the bottom of the picture is rotated. There is no gap between A and B. I mean they should be on the same wall but not on two different walls.

I am using ROS hydro and a lidar sensor.

Dose anyone know how to fix this issue?