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clear the map built by gmapping or restart gmapping by program

asked 2013-01-20 20:08:59 -0600

Kent gravatar image

I m trying to clear the map previously built by gmapping to build another place's map. I want to clear the map or restart the gmmaping node by computer programs, not manually. How can the map be cleared or the gmapping node be restarted by program?

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answered 2013-01-20 23:13:57 -0600

dornhege gravatar image

I think you'll have to do that manually by calling kill/rosnode kill and rosrun/launch. There is no restart functionality for ROS nodes.

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answered 2017-06-08 08:48:12 -0600

onlytailei gravatar image

Check the gmapping source code. Create a new gmapping object in your code and every time when you want to start a new one. Destruct the old one and create a new one. (Like use the smart_ptr and reset it every time.)

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answered 2019-02-04 02:37:16 -0600

Similar to hector_mapping, I've added a listener for the "syscommand" topic which resets the map as soon as data of the message equals "reset" on this fork:

Edited gmapping with map reset

Example:

rostopic pub -1 /syscommand std_msgs/String "data: 'reset'"
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Asked: 2013-01-20 20:08:59 -0600

Seen: 1,069 times

Last updated: Feb 04