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Try map_assembler node (source code) on remote computer to subscribe only to latest data added to map and re-assemble all rtabmap output maps remotely:
$ rosrun rtabmap_ros map_assembler _Grid/CellSize:=0.1 mapData:=/zed/rtabmap/mapData
I also added a very simple python script (less flexible than map_assembler) here to subscribe only to latest grid data and the graph, then assembling the map remotely: https://github.com/introlab/rtabmap_ros/blob/master/scripts/assemble_local_grids.py
$ python assemble_local_grids.py rtabmap/mapGraph:=/zed/rtabmap/mapGraph rtabmap/local_grid_obstacle:=/zed/rtabmap/local_grid_obstacle
cheers,
Mathieu
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