how can i stop the rtabmap node and resume it?

[mantouRobot]

Hi~
      when my robot is doing other thing, i don't want to the rtabmap running. and when my robot will move, i want to rtabmap node will resume localization. what should i do?
      thanks a lot, matlabbe~

[matlabbe]

Hi,

You can use the pause and resume services:

$ rosservice call /rtabmap/pause
$ rosservice call /rtabmap/resume