Default to infinite map size

Signed-off-by: Ryan Friedman <[email protected]>

Author: Ryanf55

include/grid_map_geo/grid_map_geo.hpp

@@ -40,8 +40,8 @@
 // Color map is optional. If left as this default value, color will not be loaded.
 static const std::string COLOR_MAP_DEFAULT_PATH{""};
 
-#include <iostream>
 #include <geometry_msgs/msg/transform_stamped.hpp>
+#include <iostream>
 
 // #include "transform.hpp"
 #include "grid_map_geo/transform.hpp"

src/grid_map_geo.cpp

@@ -67,7 +67,7 @@
  * @param corners The returned corners in the geographic coordinates
  * @return
  */
-inline bool getGeoCorners(const GDALDatasetUniquePtr& datasetPtr, Corners& corners) {
+inline bool getGeoCorners(const GDALDatasetUniquePtr &datasetPtr, Corners &corners) {
   std::array<double, 6> geoTransform;
 
   // https://gdal.org/tutorials/geotransforms_tut.html#introduction-to-geotransforms

src/map_publisher.cpp

@@ -37,15 +37,15 @@
  * @author Jaeyoung Lim <[email protected]>
  */
 
-#include <algorithm>
-#include <limits>
-
 #include <grid_map_msgs/msg/grid_map.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+
+#include <algorithm>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
+#include <limits>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/string.hpp>
-#include <tf2_ros/static_transform_broadcaster.h>
 
 #include "grid_map_geo/grid_map_geo.hpp"
 
@@ -71,10 +71,10 @@ class MapPublisher : public rclcpp::Node {
     max_map_descriptor.integer_range.push_back(max_map_descriptor_int_range);
 
     const uint16_t max_map_width =
-        std::clamp(this->declare_parameter("max_map_width", 1024, max_map_descriptor),
+        std::clamp(this->declare_parameter("max_map_width", std::numeric_limits<int>::max(), max_map_descriptor),
                    max_map_descriptor_int_range.from_value, max_map_descriptor_int_range.to_value);
     const uint16_t max_map_height =
-        std::clamp(this->declare_parameter("max_map_height", 1024, max_map_descriptor),
+        std::clamp(this->declare_parameter("max_map_height", std::numeric_limits<int>::max(), max_map_descriptor),
                    max_map_descriptor_int_range.from_value, max_map_descriptor_int_range.to_value);
 
     RCLCPP_INFO_STREAM(get_logger(), "gdal_dataset_path: '" << gdal_dataset_path << "'");