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We just ran Pioneer with ROS navigation stack with slam_gmapping node. The output of the map is 4000x4000 (appx. 15 MB) irrespective of size of environment explored.

If I try to use this map for sbpl_lattice_planner, it just waits for the map. I can visualize map in rviz. The map is grey (may be to refer to unknown area). But rviz & system hangs.

Is this behaviour because of big size of map?? I can not find which parameters to use to set map bounds? Any ideas?

Update 1: I tested it one other laptop. I may be because of hardware problem , not able to handle Rviz! is it possible with i5 processor? prince

Originally posted by prince on ROS Answers with karma: 660 on 2012-03-20

Post score: 1


1 Answer 1


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Have a look at the parameter section of the gmapping documentation. You can set the parameters xmin, xmax, ymin, ymax to some small values (like 5 meters or so). You can also adjust the resolution by setting delta.

Here is an example for an launch file with the values set. (10m x 10m map, 2cm resolution)

Regards Ben

Originally posted by Ben_S with karma: 2510 on 2012-03-20

This answer was ACCEPTED on the original site

Post score: 2

Original comments

Comment by prince on 2012-03-20:
Thanks ben, i got about size.

Comment by cooper on 2019-05-30:
hey example link is not working....


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