Best way to restart slam with ros2

Software ROS2
1

Hi,
What’s the best way to restart position tracking where all slam variables are flushed, and it’s a fresh start?

does this →https://github.com/stereolabs/zed-ros2-wrapper/blob/4540840984da2ddab93daf07fe37b23af55a69ca/zed_components/src/zed_camera/src/zed_camera_component_main.cpp#L7834

Restart everything?

2

You can call the /zed/zed_node/reset_pos_tracking service.

All the available services:

[component_container_isolated-2] [INFO] [1772465736.135349493] [zed.zed_node]: === SERVICES ===
[component_container_isolated-2] [INFO] [1772465736.135627322] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_odometry'
[component_container_isolated-2] [INFO] [1772465736.135713499] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_pos_tracking'
[component_container_isolated-2] [INFO] [1772465736.135962699] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/set_pose'
[component_container_isolated-2] [INFO] [1772465736.136052310] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/save_area_memory'
[component_container_isolated-2] [INFO] [1772465736.136191272] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_obj_det'
[component_container_isolated-2] [INFO] [1772465736.136295456] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_body_trk'
[component_container_isolated-2] [INFO] [1772465736.136364435] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_mapping'
[component_container_isolated-2] [INFO] [1772465736.136431385] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/enable_streaming'
[component_container_isolated-2] [INFO] [1772465736.136514705] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/start_svo_rec'
[component_container_isolated-2] [INFO] [1772465736.136581879] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/stop_svo_rec'
[component_container_isolated-2] [INFO] [1772465736.136666680] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/set_roi'
[component_container_isolated-2] [INFO] [1772465736.136733983] [zed.zed_node]:  * Advertised on service: '/zed/zed_node/reset_roi'

Documentation: ROS 2 - ZED Stereo Node - Stereolabs

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