Reset cartographer state during runtime of cartographer_node

[BarzelS]

Hey,
Is there a way to reset cartographer node state without restarting the process(during runtime)?
(Reset the map)
Thanks

[MichaelGrupp]

I'm not entirely sure what you mean, but it could be related to something I want to implement:
Control over deleting and loading states during runtime, as proposed here: cartographer-project/rfcs#41

[BarzelS]

1. Restart all data related to cartographer(Map, Landmarks, submaps etc) just like restarting the process of cartographer node, without loading a pbstream file.
   In addition: disable the optimization process which is done in the destructors.
2. I'm using cartographer_ros which means that I'm using version 1.0.0(Done the installation through https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html)
   Does the master version of cartographer is compatible with that version of cartographer_ros?

[MichaelGrupp]

Completely resetting everything is currently not supported. My draft goes into this direction but is also not finished.
Regarding destruction, there was a similar request but it was not merged into master. You can follow up here: cartographer-project/cartographer#1446

Does the master version of cartographer is compatible with that version of cartographer_ros?

Nope. Only file backwards compatibility for pbstream.