Hector slam incremental mapping
I want to have hector slam loaded with a pre-saved map , but NOT for localization only (so can't go to AMCL) , it is for performing mapping and update the saved map with the new info found in the world that weren't in the saved map (the world changed) .
To be specific : suppose a robot scanned the map of an entire floor with hector slam and saved the map successfully . Now next time the robot will use the saved map , BUT the floor itself changed a little bit (positions of obstacles changed, new obstacles or new free areas rise) so I want be aware and map those to the saved map , sort of logical OR operator between the saved map and hector's incremental findings.
If I tried just publish the saved map to the hector's map topic , hector will overwrite it with its own map , so maybe if there's a way to just make hector take the last msg from the map topic , (logical or ) to add the new updates , and then publish it .
This will not make it a closed loop in the sense that it closed the loop to improve performance in any way , its just publishing updates on the saved thing instead of publishing a new thing
