Relationship between /scan and /map
I'm running a hector mapping program that opens rviz and maps as you manually move around the map. I subscribe to both /scan and /map to get the laser scan data and the occupancy grid of the map continuously. I was wondering how exactly the relationship between the scan and the occupancy grid works. Does the occupancy grid update 1:1 with our scan? Or does the scan go past our occupancy grid (or vice versa)?