Hi,

I am trying to improve my map's quality and I can't understand the functionality of the following parameters

• scansubscriberqueue_size
• mapmultires_levels
• updatefactorfree
• updatefactoroccupied
• lazerzmin_value
• lazerzmax_value

I have already seen them on hector_mapping ROS WIKI but as I said I can't comprehend their operation.

Can someone help me figure out what these parameters mean?

Thank you!