How to tell the cartographer_occupancy_grid_node to chart for only one trajectory?

[BlueBirdHouse]

The story begins that one day I attempt to control the charting procedure of the Cartographer. 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. Now, 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 have posted an issue on there. I also asked my question there.

I have tried the service cartographer_ros_msgs/FinishTrajectory. The cartographer seems to stop the charting work. That is nice! Then, I call the service cartographer_ros_msgs/StartTrajectory. It starts to build the map again. But, the cartographer_ros_msgs/SubmapList, in which the cartographer_node publishes the poses for cartographer_occupancy_grid_node to chart, contains all the trajectories. The consequence is the map belongs to different trajectories mixed.

The manual says I may use the '--help' command to see more available options, but how to use it in ROS2?

Is there some other method that I can tell the node to clean the old map and publish a new one? Maybe reboot the two nodes of the cartographer?

Does it feel odd if the SLAM program reboots again and again?

[Stanuns]

Hi, @BlueBirdHouse , have you solved this problem? Look forward to your reply