From df0cdf11c9816ec14ab76a85f515d16c5ad4aa44 Mon Sep 17 00:00:00 2001
From: mat0imaru <hubo.move@gmail.com>
Date: Mon, 31 Oct 2022 12:29:43 +0900
Subject: [PATCH] map origin position correted

---
 hector_mapping/src/HectorMappingRos.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hector_mapping/src/HectorMappingRos.cpp b/hector_mapping/src/HectorMappingRos.cpp
index 3892ea10..1558f497 100644
--- a/hector_mapping/src/HectorMappingRos.cpp
+++ b/hector_mapping/src/HectorMappingRos.cpp
@@ -544,7 +544,7 @@ void HectorMappingRos::rosPointCloudToDataContainer(const sensor_msgs::PointClou
 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;
+  mapOrigin.array() -= gridMap.getCellLength()/1000*0.5f;
 
   map_.map.info.origin.position.x = mapOrigin.x();
   map_.map.info.origin.position.y = mapOrigin.y();