rgbdslam: send model + reset, how to automate the process?

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Hi, I'm using rgbdslam v2 to read information from hector_quadrotor_demo (gazebo) and process the pointcloud2 msg coming from rgbdslam in a c++ project.

The gui publishes messages in the /rgbdslam/batch_clouds only when I click on "send model" item of the menu and only for few seconds.

Furthermore to update the information that the GUI sends in the topic, I have to click repeatedly on "reset" item (and then on "send model" again), otherwise the messages rest unchanged. Also the image on the top of the GUI doesn't change if I don't click on resent item!!

Is there a way to automate this behavior?

Thanks!!