The topic /map published by node LaserMappingNode is a local map, how could I get the global map

[ldjcrs]

Hi @wh200720041 ,Thanks a lot for your work! when I listened the topic /map in rviz, I just could viewed the local map message.

[ldjcrs]

I found the location where map topic published in LaserMappingNode.cpp. Is the topic map published here a local map?
if(path_size %20 == 0){
iscloam_map = laserMapping.getMap();
sensor_msgs::PointCloud2 PointsMsg;
pcl::toROSMsg(*iscloam_map, PointsMsg);
PointsMsg.header.stamp = pointcloud_time;
PointsMsg.header.frame_id = "map";
map_pub.publish(PointsMsg);
}