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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?
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.
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.)
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'"
Asked: 2013-01-20 20:08:59 -0500
Seen: 2,835 times
Last updated: Feb 04 '19
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