[Kinetic] rviz navigation map cluttered or inaccurate: how to delete, refresh, or archive?

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Objective

Autonomous navigation to a designated in a previously explored location or a location new to the robot

Equipment

Small (<20 cm high) 3 wheeled (2 drive wheel) Raspberry Pi3 / Arduino equipped "RikiRobot" with a RPLIDAR sensor.

Preparation

I'm using two small vendor provided robot specific XML files, bringup.launch and navigate.launch (see Appendix below) to start the lidar and roscore nodes, drivers, etc. so the robot can respond to navigation requests.

Problem

In rviz, subscribing to the map topic, the robot now has a stored map from a different area. The robot superimposes the local map from the scan lidar topic with the already saved map from a different area; this seems to result in a composite map having no navigation solution; travel in most directions is blocked by barriers in the earlier saved map or the current environment.

I've restarted the Ubuntu 16.04 host as well as the Robot itself; the map seems to be persisting on the Robot because two different hosts see the map when subscribing to the "map" topic on the robot.

Possible problem resolution

I think what I need to do is clear or refresh the map or edit navigate.launch? so the robot will generate a new map appropriate to its current environment. But I don't know how to clear the map either at the command line or from within rviz. The rviz "reset" button does not clear the map.

Thanks for any replies.

Appendix 1: Launch files

bringup.launch

<launch>
  <!--serial communication between arduino and pc via usb /-->
  <node name="arduino_serial_node" pkg="rosserial_python" type="serial_node.py" output="screen">
    <param name="port" value="/dev/rikibase" />
    <param name="baud" value="57600" />
  </node>

 <node pkg="ros_arduino_imu" type="raw_imu_bridge_node" name="raw_imu_bridge" output="screen" respawn="false">
   <rosparam>
   imu/gyroscope_bias: {x: -0.013545, y: 0.056887, z: 0.012693 }
   imu/accelerometer_bias: {x: -0.422578, y: 0.053516, z: -0.310391 }
    </rosparam>
   <param name="imu/perform_calibration" value="false" />
 </node>

  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_madgwick" output="screen" respawn="false" >
    <param name="use_magnetic_field_msg" value="false" />
    <param name="fixed_frame" value="odom"  />
  </node>

  <node name="riki_base_node" pkg="rikirobot" type="riki_base_node">
    <param name="angular_scale" type="double" value="1.0" />
    <param name="linear_scale" type="double" value="1.0" />
  </node>
</launch>

navigate.launch

<launch>
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />

  <arg name="map_file" default="$(find rikirobot)/maps/house.yaml"/>
  <node pkg="map_server" name="map_server"  type="map_server" args="$(arg map_file)" />

  <include file="$(find rikirobot)/launch/amcl.launch" />
  <include file="$(find rikirobot)/param/move_base.xml" />
</launch>

Appendix 2: rostopic list

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/cmd_vel
/diagnostics
/imu/data
/imu/data_raw
/imu/mag
/imu/magnetic_field
/imu_filter_madgwick/parameter_descriptions
/imu_filter_madgwick/parameter_updates
/initialpose
/map
/map_metadata
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/cost_cloud
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/TrajectoryPlannerROS/parameter_descriptions
/move_base/TrajectoryPlannerROS/parameter_updates
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/global_costmap/footprint
/move_base/global_costmap/inflation_layer/parameter_descriptions
/move_base/global_costmap/inflation_layer/parameter_updates
/move_base/global_costmap/obstacle_layer/parameter_descriptions
/move_base/global_costmap/obstacle_layer/parameter_updates
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/static_layer ...