rursprung
commented
1 year ago @joel5399: it'd be great if you could test this on the actual robot, thanks! (you'll need to manually launch rviz to see the map).
there's lots more which we can tweak here with the settings and there's e.g. also map_server which we could add which would then allow saving the maps. i'd suggest that this can be done in subsequent commits if we need it.
see the individual commit messages for further details. note: this also includes the commit from PR #49 as it's (a) needed to run this on the hardware and (b) it's modifying the same place in the same file, so i already rebased on it here to avoid merge conflicts afterwards.