how to continue to slam base on the old map.db

[XuechenCao]

i have create a map.db, and how can i continue to slam base on the map.db, i tried to set Mem/IncrementalMemory: true Mem/InitWMWithAllNodes: true, it seems does not work, beacuse the gui and rviz2 both do not show the old map point cloud

[XuechenCao]

and after reset odom in the rtabmap will lost the map built before, how can i keep the old map and continue

[matlabbe]

The map is still there, but not shown because you initiated a new mapping session. The old map would re-appear just after it re-localizes in it again. Till then, only the current map will be shown.

Here is another recent related thread: https://github.com/introlab/rtabmap_ros/issues/1335