Is there any interface on the nodes that can be used to control the start and stop of the charting?

[BlueBirdHouse]

I am using the cartographer_node to build the map, together with the cartographer_occupancy_grid_node to publish the occupancy grid map. Both nodes work fine. I would like to control when to begin the mapping work and when to stop. For example, the robot draws a good map for my first floor; then, it is going to the second floor from the elevator. I would like to tell the robot to stop the mapping work. After it goes out from the elevator, I would like to command it to begin a new map and chart again.

I can stop the cartographer_node and the cartographer_occupancy_grid_node before it goes into the elevator; then, executive it again when it arrives at the new floor. However, it feels odd.

How can I start to build a new map and clean the old one?

[BlueBirdHouse]

I have tried the service cartographer_ros_msgs/FinishTrajectory. The cartographer seems to stop the charting work. Then, I call the service cartographer_ros_msgs/StartTrajectory. It starts to build the map again.

That is nice; however, the map that I have received from the node cartographer_occupancy_grid_node is mixed with the old maps. I observed it from the RVIZ2.

Is there some way that I can tell the node to clean the old map and publish a new one?

[eithwa]

Maybe you can select the submap of the trajectory that needs to be displayed in cartographer_ocupancy_grid_node