When I construct a 2d map using laser gmapping, how can I be sure where the origin is? For example, before starting gmapping, if I go in gazebo simulation to the desired center in my environment and then start gmapping:
1. Will that be considered as the origin?
2. If yes, then if I go left by 1 meter, does it mean that now I moved x=-1 y=0 z=0?
3. So with my resolution of 0.5, do I need to translate to ROS by saying : x= (-1 * 0.5), y = 0, z=0 ?
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