Continue mapping after stopping node once

[saracooper18]

I am trying to build a wide map with the orb_slam_2_ros package. Due to the big size of the environment that I want to map I would like to be able to stop the mapping and continue later on. I thought this was possible by running the orb_slam2_rgbd node with the following parameters:

       <param name="localize_only" type="bool" value="false" />
       <param name="load_map" type="bool" value="true" />

However, when I send the robot to a previously unmapped place, it stops detecting any keypoints whatsoever, indicating it does not detect any transform for /map. If I go back a previously mapped place it gets back to detecting keypoints.

Would you have any suggestion on what I should do to continue mapping after stopping the node once, or is it not supported by ORB_SLAM2_ROS?

[lennarthaller]

This is indeed a bug which is know to me.

or is it not supported by ORB_SLAM2_ROS?

It is supposed to be supported but due to some error the restarting of the mapping doesn't work, only the localization does. If you have time to look into this I am more then happy to merge a PR.