# Revision history [back]

### How to start a node after I terminate the lunch file with Ctrl + C

• OS: Ubuntu 16.04 LTS with 4.15.0-52-generic kernel
• ROS version: Kinetic

I want to save the map continuously while I'm creating it with hector_slam or at the end of the mapping process. I can do it with starting manually after I finish mapping, but if it could be simultaneous while the robot is mapping, it would be better. So I have this in my lunch file but obviously it starts ones and I get only the blank map file.

<node pkg="map_server" type="map_saver" name="map_saver" args="-f \$(find robot_hector_slam)/map/map"/>


I want to do it continuously or I want to start this node when I terminate the launch file with Ctrl + C. Is there any other way to save the map like this? With geotiff, it creates the map with timestamp and I don't know how to overwrite to the same file.