Extra space around map created in gmapping causing extra pixels in pgm file.
Hi There, I am trying to use gmapping to create a map of a custom gazebo world. The problem is that when the gmapping is launched, an "extra area" (shown in red, below) appears around the map as it is created. Then, when saving the map, this extra area is present in the .pgm file, which is undesirable as it messes up our path planner.
Here is the extra area that appears (shown in red):
After completing mapping, the pgm file looks like this, once again with the "extra area" shown in red:
If it's relevant, I am using this robot sim package: Rb Kairos Sim
I have tried launching gmapping with both the gmapping included in the rbkairos sim package ROS_NAMESPACE=robot roslaunch summit_xl_localization slam_gmapping.launch
and also on its ownrosrun gmapping slam_gmapping scan:=/robot/front_laser/scan map:=/slam_gmapping/map
And this is the contents of my gmapping config:
map_frame: $(arg map_frame)
base_frame: $(arg base_frame)
odom_frame: $(arg odom_frame)
map_udpate_interval: 2.0
maxUrange: 16.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
linearUpdate: 0.2
angularUpdate: 0.1
temporalUpdate: 3.0
resampleThreshold: 0.5
particles: 100
xmin: -5.0
ymin: -5.0
xmax: 5.0
ymax: 5.0
delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
