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I've done option3 , and the important thing is to localize (AMCL) & visit points (move_base) the robot with 'previously built old map' and run gmapping at the same time (as I mentioned earlier in my Question, I made a node that publishes move_base goals- the visit points were selected before.). But make sure to change odom_frame param in slam_gammping node to odom2 or something (just to be different from default odom) so that gmapping doesn't interfere with the current odom used in move_base & AMCL at the moment.

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