projected_map's size does not increase with the map

[ZhongmouLi]

Hi @iKrishneel ,

First of all, I would like to say thank you for developing this wonderful ros2 pkg. I am trying to use it to convert a map built in pointcloud2 by LIO-SAM to a Octomap, then convert the Octomap to a 2D occupancy grid map for nav2.

My env

• Ubuntu 22.04
• ROS2 Humble

Issue
I run LIO-SAM to build a map that is in pointcloud2, which is feed into octomap_server2. However, it seems like that the prjected_map has a fixed size and it cannot get increased when the map becomes larger.

Question

1. is there any way to increase the size of the projected_map dynamically?
2. do you think I can use the projected_map as an input for nav2 directly?