Real Robot Project Mapping (ROS)

[AshishVarma]

After my mapping is done i have saved pgm file into my pc and it is showing like this

if i zoom it is showing blurred image

is it fine or else do i need to do any adjustments in parameters?

gmapping_params.yaml file

base_frame: base_footprint
odom_frame: odom
map_update_interval: 5.0
maxUrange: 7.0
maxRange: 8.0

minimumScore: 200

linearUpdate: 0.5
angularUpdate: 0.436
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 80
xmin: -50.0
ymin: -50.0
xmax: 50.0
ymax: 50.0

delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005

[roalgoal]

I don’t think this is an issue, this is just the resolution at which the mapping was done. Have you tried to provide it to a map_server so it can be visualized in rviz? My guess is that it will appear just fine.

[AshishVarma]

yes it appeared fine, thanks for the response.