void HectorMappingRos::setServiceGetMapData(nav_msgs::GetMap::Response& map_, const hectorslam::GridMap& gridMap) { Eigen::Vector2f mapOrigin (gridMap.getWorldCoords(Eigen::Vector2f::Zero())); mapOrigin.array() -= gridMap.getCellLength()*0.5f; map_.map.info.origin.position.x = mapOrigin.x(); map_.map.info.origin.position.y = mapOrigin.y(); map_.map.info.origin.orientation.w = 1.0; map_.map.info.resolution = gridMap.getCellLength(); map_.map.info.width = gridMap.getSizeX(); map_.map.info.height = gridMap.getSizeY(); map_.map.header.frame_id = p_map_frame_; map_.map.data.resize(map_.map.info.width * map_.map.info.height); }