Hello,

When in use gmapping, Hectorslam, Kartoslam and chartographer package to create a map it makes a very small map (see images). The Kartoslam map is bigger then oder slam map.I don't know why ?

1. How can I precisely set the size of the slam map generated by (gmapping, Hectorslam, Kartoslam and chartographer)

In attachement you find the generate SLAM map and the launch files

I would appreciate an answer.

Karto.yaml

# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.12 
minimum_travel_heading: 0.174             #in radians
scan_buffer_size: 70
scan_buffer_maximum_scan_distance: 3.5
link_match_minimum_response_fine: 0.12
link_scan_maximum_distance: 3.5
loop_search_maximum_distance: 3.5
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 0.4   # gets squared later
loop_match_minimum_response_coarse: 0.8
loop_match_minimum_response_fine: 0.8

# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.3
correlation_search_space_resolution: 0.025
correlation_search_space_smear_deviation: 0.03

# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.025
loop_search_space_smear_deviation: 0.03

# Scan Matcher Parameters
distance_variance_penalty: 0.3      # gets squared later
angle_variance_penalty: 0.349       # in degrees (gets converted to radians then squared)
fine_search_angle_offset: 0.00349   # in degrees (gets converted to radians)
coarse_search_angle_offset: 0.349   # in degrees (gets converted to radians)
coarse_angle_resolution: 0.0349     # in degrees (gets converted to radians)
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: false

Gmapping.launch

<launch>
  <!-- Arguments -->
  <arg name="model" default="waffle" doc="waffle"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="set_base_frame" default="base_footprint"/>
  <arg name="set_odom_frame" default="odom"/>
  <arg name="set_map_frame"  default="map"/>

  <!-- Gmapping -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="pub_map_odom_transform" value="true"/>
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <param name="map_update_interval" value="2.0"/>
    <param name="maxUrange" value="3.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="50"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.2"/>
    <param name="temporalUpdate" value="0.5"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="100"/>
    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>
</launch>

HectorSLAm.launch

<!--HectorSLAM-->
     <launch>
  <!-- Arguments -->
  <arg name="model" default="waffle" doc="waffle"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="odom_frame" default="odom"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>

  <!-- Hector mapping -->
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <!-- Frame names -->
    <param name="map_frame"  value="map" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    <param name="base_frame" value="$(arg base_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation"  value="true"/>
    <param name="use_tf_pose_start_estimate"  value="false"/>
    <param name="pub_map_scanmatch_transform" value="true" />
    <param name="pub_map_odom_transform"      value="$(arg pub_map_odom_transform)"/>
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size"       value="$(arg map_size)"/>
    <param name="map_start_x"    value="0.5"/>
    <param name="map_start_y"    value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free"         value="0.4"/>
    <param name="update_factor_occupied"     value="0.9" />   
    <param name="map_update_distance_thresh" value="0.1"/>
    <param name="map_update_angle_thresh"    value="0.04" />
    <param name="map_pub_period"             value="2" />
    <param name="laser_z_min_value"          value= "-0.1" />
    <param name="laser_z_max_value"          value= "0.1" />
    <param name="laser_min_dist"             value="0.12" />
    <param name="laser_max_dist"             value="3.5" />

    <!-- Advertising config -->
    <param name="advertise_map_service"      value="true"/> 
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters -->
    <!--
      <param name="output_timing"    value="false"/>
      <param name="pub_drawings"     value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
  </node>
</launch>

cartographer.launch

<launch>
  <!-- Arguments -->
  <arg name="model" default="waffle" doc="waffle"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- cartographer_node -->
  <node pkg="cartographer_ros" type="cartographer_node" name="cartographer_node" 
        args="-configuration_directory $(find turtlebot3_slam)/config
              -configuration_basename $(arg configuration_basename)"
        output="screen">

  <remap from="/imu" to="/flat_imu"/>
    <!--remap from="points2" to="/camera/depth/points" / -->
  </node>

  <!-- cartographer_occupancy_grid_node -->
  <node pkg="cartographer_ros" type="cartographer_occupancy_grid_node"
        name="cartographer_occupancy_grid_node" 
        args="-resolution 0.05" />

  <!-- flat_world_imu_node -->
  <node pkg="turtlebot3_slam" type="flat_world_imu_node" name="flat_world_imu_node" output="screen">
    <remap from="imu_in" to="/imu" />
    <remap from="imu_out" to="/flat_imu" />
  </node>
</launch>