Suggested parametrization of map floor in map_publlisher node #18
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Changes in map_publisher.cpp, floor creation was a problem because it may not match with the size of a custom map, now is parametrized for easy access
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When I first started working with this repository, I created my own map using the provided map creator tool. My problem was that after creating my own map and following the instructions in the README file, the exploration did not go as expected because the map floor did not match the size of the actual map. The problem was that the map_publisher node was always creating the floor of the map with a size of 15x30, and mine was 40x40. I didn't realise this until I ran the exploration, as it is not specified in the README file in the Exploring Different Environments section. I suggest that these parameters should be more accessible and readable in the launch files, so I think this is a reasonable solution.