diff --git a/README.md b/README.md
index c6c3f32..27fb848 100644
--- a/README.md
+++ b/README.md
@@ -110,7 +110,6 @@ We provide several sample environments, which can be selected in [swarm_explorat
 ```
 
 Other examples can be found in [map_generator/resource](uav_simulator/map_generator/resource). If you want to use your own environments, simply place the .pcd files in [map_generator/resource](uav_simulator/map_generator/resource), and follow the comments above to specify it. You may also need to change the bounding box of explored space in [exploration.launch](swarm_exploration/exploration_manager/launch/single_drone_planner.xml):
-
 ```xml
     <arg name="box_min_x" value="-10.0"/>
     <arg name="box_min_y" value="-15.0"/>
@@ -119,6 +118,13 @@ Other examples can be found in [map_generator/resource](uav_simulator/map_genera
     <arg name="box_max_y" value="15.0"/>
     <arg name="box_max_z" value=" 2.0"/>
 ```
+and the map_floor parameters in the map_publisher node in [swarm_exploration.launch](swarm_exploration/exploration_manager/launch/swarm_exploration.launch) or the exploration launch file that is going to be used to match the size of the map:
+```xml
+    <param name="map_floor/x_min" value="-7.5" type="double"/>
+    <param name="map_floor/x_max" value="7.5" type="double"/>
+    <param name="map_floor/y_min" value="-15.0" type="double"/>
+    <param name="map_floor/y_max" value="15.0" type="double"/>
+```
 
 To create your own .pcd environments, you can use [this tool](https://github.com/HKUST-Aerial-Robotics/FUEL#creating-a-pcd-environment). 
 
diff --git a/swarm_exploration/exploration_manager/launch/swarm_exploration.launch b/swarm_exploration/exploration_manager/launch/swarm_exploration.launch
index 7ec11e1..49206d1 100644
--- a/swarm_exploration/exploration_manager/launch/swarm_exploration.launch
+++ b/swarm_exploration/exploration_manager/launch/swarm_exploration.launch
@@ -8,10 +8,12 @@
   <arg name="odom_prefix" value="/state_ukf/odom" />
   <arg name="drone_num" value="5" />
 
-    <!-- Map generation -->
-  <!-- <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd">    
-  </node> -->
-  <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/pillar.pcd">    
+  <!-- Map generation -->
+  <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd">
+    <param name="map_floor/x_min" value="-7.5" type="double"/>
+    <param name="map_floor/x_max" value="7.5" type="double"/>
+    <param name="map_floor/y_min" value="-15.0" type="double"/>
+    <param name="map_floor/y_max" value="15.0" type="double"/>
   </node>
 
 <include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
diff --git a/uav_simulator/map_generator/src/map_publisher.cpp b/uav_simulator/map_generator/src/map_publisher.cpp
index 84ebc3f..df01ee6 100644
--- a/uav_simulator/map_generator/src/map_publisher.cpp
+++ b/uav_simulator/map_generator/src/map_publisher.cpp
@@ -7,6 +7,7 @@
 
 using namespace std;
 string file_name;
+double x_min, y_min, x_max, y_max;
 
 int main(int argc, char** argv)
 {
@@ -19,6 +20,11 @@ int main(int argc, char** argv)
   // file_name = "/home/boboyu/workspaces/catkin_ws/src/uav_simulator/map_generator/resource/tmp.pcd";
   // ros::Publisher cloud_pub = node.advertise<sensor_msgs::PointCloud2>("/pcl_render_node/local_map", 10, true);
 
+  node.param("map_pub/map_floor/x_min", x_min, -10.0);
+  node.param("map_pub/map_floor/x_max", x_max, 10.0);
+  node.param("map_pub/map_floor/y_min", y_min, -10.0);
+  node.param("map_pub/map_floor/y_max", y_max, 10.0);
+
   ros::Duration(1.0).sleep();
 
   /* load cloud from pcd */
@@ -30,25 +36,20 @@ int main(int argc, char** argv)
     return -1;
   }
 
-  // // Process map
-  // for (int i = 0; i < cloud.points.size(); ++i)
-  // {
-  //   auto pt = cloud.points[i];
-  //   pcl::PointXYZ pr;
-  //   pr.x = pt.x;
-  //   pr.y = -pt.z;
-  //   pr.z = pt.y;
-  //   cloud.points[i] = pr;
-  // }
-
-  for (double x = -7; x <= 7; x += 0.1)
-    for (double y = -15; y <= 15; y += 0.1)
+  /*
+  for (double x = -12; x <= 12; x += 0.1)
+    for (double y = -40; y <= 40; y += 0.1)
     {
       cloud.push_back(pcl::PointXYZ(x, y, 0));
     }
+  */
 
-  // cout << "Publishing map..." << endl;
-
+  for (double x = x_min; x <= x_max; x += 0.1)
+    for (double y = y_min; y <= y_max; y += 0.1)
+    {
+      cloud.push_back(pcl::PointXYZ(x, y, 0));
+    }
+  
   sensor_msgs::PointCloud2 msg;
   pcl::toROSMsg(cloud, msg);
   msg.header.frame_id = "world";
@@ -62,4 +63,4 @@ int main(int argc, char** argv)
   cout << "finish publish map." << endl;
 
   return 0;
-}
\ No newline at end of file
+}