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I use the below yaml for getting the map using the map_server package. I changed the yaw in the origin tag of the original yaml to -0.102.

image: map_zone.pgm
resolution: 0.050000 
origin: [-17.000000, -17.000000, 0.0]   #### OLD
origin: [-17.000000, -17.000000, -0.102000] 
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

This change resulted into weird costmap. Please help. My setup is a typical ros navstack using move_base. this also affects amcl slam as localization is way off.

I have already played around with /initial_pose. the setup works fine if i do not change the yaw in the map.yaml file.

with original yaw=0.0 with original zero yaw

with yaw = -0.0102 With yaw(/upfiles/16046623663103974.png)

Originally posted by darshb34 on ROS Answers with karma: 45 on 2020-11-06

Post score: 0


1 Answer 1


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If you want to change the origin, you need to change map_zone.pgm as well.

Originally posted by miura with karma: 1908 on 2020-11-06

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by darshb34 on 2020-11-06:
@miura can you point me how to change map_zone.pgm? Are any opensource tools available?

Comment by miura on 2020-11-06:
You can use gimp.

Documentation on rotation


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