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gmapping params width/height/resolution

asked 2020-05-26 04:11:27 -0500

nalistic gravatar image

Distro Kinetic SO Ubuntu 16.04

Hello, i am trying to create a tool for mapping for Windows/Android but i first need to unsderstand how mapping works. i have a launch file to start gmapping, i am setting the xmin xmax ymin ymax values to: -10, 10, -10, 10 so at the start, the map size if im correct it should be 20 m width and 20 m height. When using rviz to check if the map size is correct, i am chcecking the corners of the map and they are showing the expected value. i am also setting the delta resolution to 0.1 so basically 10 cells it is 1 meter, so the map should be 200 cells width x 200 width cells height, but when using rostopic echo /map i see that the map being display has a width of 192 and a height of 192, i am completly lost and i have no idea why the size of the map being displayed is 192

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answered 2020-10-14 07:44:56 -0500

nalistic gravatar image

the answer was way simplier than i firstly thought. The maps get created using grids thats why there cant be maps of 200 cells for example

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Can you please elaborate? I don't understand.

Chan gravatar image Chan  ( 2021-04-25 21:08:23 -0500 )edit

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Asked: 2020-05-26 04:11:27 -0500

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Last updated: Oct 14 '20