Start and stop mapping service

[jaiswalharsh]

Hi,

We are trying to use voxblox_ros on a UAV for mapping and have a high-level Behavior tree structure to command different objectives. We want to start and stop mapping through Voxblox using ROS actions.

The idea is to only start mapping when we are in specific regions where we fly. While moving to another region we would like to stop the mapping and start again once we are there. Hope this all makes sense.

Is there a possible way to achieve this may be through the generate_mesh rosservice? Any help or suggestions would be great!

OS: Ubuntu 18.04
ROS: Melodic

Thanks in advance!