Best way to restart slam with ros2

[hey_you]

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?