Where is the origin of a map made by gmapping?
When I construct a 2d map using laser gmapping, how can I be sure where the origin is? For example, before starting gmapping, if I go in gazebo simulation to the desired center in my environment and then start gmapping:
- Will that be considered as the origin?
- If yes, then if I go left by 1 meter, does it mean that now I moved x=-1 y=0 z=0?
- So with my resolution of 0.5, do I need to translate to ROS by saying : x= (-1 * 0.5), y = 0, z=0 ?