diff --git a/include/Grid3D/local_grid3d.hpp b/include/Grid3D/local_grid3d.hpp
index 835a1b1..b97661f 100755
--- a/include/Grid3D/local_grid3d.hpp
+++ b/include/Grid3D/local_grid3d.hpp
@@ -183,7 +183,7 @@ class Local_Grid3d
 	
 	bool isIntoMap(float x, float y, float z)
 	{
-		return (x >= 0.0 && y >= 0.0 && z >= 0.0 && x < m_maxX && y < m_maxY && z < m_maxZ);
+		return (x >= 0.0 && y >= 0.0 && z >= 0.0 && x <= (2*m_maxX) && y <= (2*m_maxY) && z <= (2*m_maxZ));
 	}
 	// int getCellCost(const float &_x, const float &_y, const float &_z){
 	// JAC Precision
@@ -436,9 +436,9 @@ class Local_Grid3d
         // Get map parameters: They have to take from local_world_size_x, local_world_size_y , local_world_size_z of the launch
 		double maxX, maxY, maxZ, res;
         
-		maxX = 1.0; // distancia a cada lado del dron (en x)
-        maxY = 1.0; // distancia a cada lado del dron (en y)
-        maxZ = 1.0; // distancia a cada lado del dron (en z)
+		maxX = 4.0; // distancia a cada lado del dron (en x)
+        maxY = 4.0; // distancia a cada lado del dron (en y)
+        maxZ = 2.0; // distancia a cada lado del dron (en z)
         res = 0.2;
 
 
diff --git a/src/utils/ros/ROSInterfaces.cpp b/src/utils/ros/ROSInterfaces.cpp
index 2d34db8..b7df4e3 100755
--- a/src/utils/ros/ROSInterfaces.cpp
+++ b/src/utils/ros/ROSInterfaces.cpp
@@ -132,7 +132,24 @@ namespace Planners
         {
             // Computar el grid local
             _grid.computeLocalGrid(loaded_sdf, drone_x, drone_y, drone_z);
-            printf("-- Exiting computeLocalWorldCosts --\n");
+
+            auto world_size = _algorithm.getWorldSize();
+            std::cout << "World size: " << world_size << std::endl;
+            auto resolution = _algorithm.getWorldResolution();
+
+            for (int i = 0; i < world_size.x; i++)
+            {
+                for (int j = 0; j < world_size.y; j++)
+                {
+                    for (int k = 0; k < world_size.z; k++)
+                    {
+                        float cost = _grid.getCellCost(i * resolution, j * resolution, k * resolution);
+                        _algorithm.configureCellCost({i, j, k}, cost);
+                    }
+                }
+            }
+
+
             return true;
         }