Hello,

I launched MOLA with RViz2 and a rosbag that I properly created. Here is the result I got.

I then launched a subscriber along with a publisher for the topic called mola_topic_filter. The mola_topic_filter topic is used to shift the map generated by MOLA along the Z-axis. See the image below, where the map is shown in white. The mola_topic_filter topic publishes messages of type sensor_msgs/msg/PointCloud2.

And rqt_graph (Outlined in blue.):

I’m not saving this map; I want now is to send the modifications made through the mola_topic_filter topic to the mola_bridge_ros2 (see the blue arrow). This way, when I start a new ros2bag, it works on this modified map instead of generating a new one. I want this process to continue until I disable it. I would like to know if this is possible to do else, is there another solution??

Thank you for reading my message, and have a great day.