Open charlielito opened 2 years ago
See this repo which kind of solved the issue but in ros1: https://github.com/gingineer95/Multi-Robot-Exploration-and-Map-Merging https://github.com/gingineer95/Multi-Robot-Exploration-and-Map-Merging/blob/main/src/map_expansion.cpp
The original code in ROS1 was written to be compatible with slam_gmapping or hector_slam, which AFAIK publish a map of a fixed size. In ROS2 the facto slam choice is slam_toolbox, which publishes the map as it grows changing its size, but this doesn't work with the map merging algorithm in this package.
A more dive deep into the code is needed but I think the solution can be to pad all maps to the biggest map among received maps and then just apply the existing algorithm