[Fix]map merge misalignment - Githubissues

SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

GNU Lesser General Public License v2.1

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[Fix]map merge misalignment #704

Closed Zarqu0n closed 1 month ago

Zarqu0n commented 1 month ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#385
Primary OS tested on	(Ubuntu 22.04)
Robotic platform tested on	Tested on Saha Robotic's Service Robot Speedy

Description of contribution in a few bullet points

Fix map merge misalignment issue.
Add generate map when move the interactive markers.

Description of documentation updates required from your changes

Future work that may be required in bullet points

I have noticed two issues:

When the submap is called, the submap's marker and TF are not aligned in the same location. This issue is resolved if we move the marker on the map once.
When we rotate the map, the map size increases.