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Feature/dynamic map size

Merged Feature/dynamic map size
feature/dynamic_map_size into master
Merged Ghost User requested to merge feature/dynamic_map_size into master
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homer_mapping/src/OccupancyMap/OccupancyMap.cpp
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@@ -515,16 +515,16 @@ void OccupancyMap::insertRanges ( vector<RangeMeasurement> ranges, ros::Time sta
if(need_x_left + need_x_right + need_y_down + need_y_up > 0)
{
//keep square aspect ration till homer_gui can handle other maps
int need_x = need_x_left + need_x_right;
int need_y = need_y_up + need_y_down;
if(need_x > need_y)
{
need_y_down += need_x - need_y;
}
else if (need_y > need_x)
{
need_x_right += need_y - need_x;
}
//int need_x = need_x_left + need_x_right;
//int need_y = need_y_up + need_y_down;
//if(need_x > need_y)
//{
//need_y_down += need_x - need_y;
//}
//else if (need_y > need_x)
//{
//need_x_right += need_y - need_x;
//}
ROS_INFO_STREAM("new map size!");
ROS_INFO_STREAM(" "<<need_x_left<<" "<<need_y_up<<" "<<need_x_right<<" "<<need_y_down);