gment --><p>The parameters <code>resolution</code> and <code>origin</code> are based on the arguments in <code>request_publisher.launch</code>.The <code>image</code> parameter is the name of the map generated in the previous step. If you manually renamed the map, you need to update this parameter accordingly. In our provided example, it has been manually renamed to <code>test.pgm</code>. Alternatively, you can modify the <code>map_name</code> parameter in the <code>request_publisher.launch</code> file to di