Implement receive_global_slam_optimizations_handler (#1169)

cartographer/cloud/internal/client_server_test.cc

@@ -21,6 +21,7 @@
 #include "cartographer/cloud/internal/map_builder_server.h"
 #include "cartographer/cloud/map_builder_server_options.h"
 #include "cartographer/mapping/internal/testing/mock_map_builder.h"
+#include "cartographer/mapping/internal/testing/mock_pose_graph.h"
 #include "cartographer/mapping/internal/testing/mock_trajectory_builder.h"
 #include "cartographer/mapping/internal/testing/test_helpers.h"
 #include "cartographer/mapping/local_slam_result_data.h"
@@ -33,6 +34,7 @@ using ::cartographer::mapping::MapBuilderInterface;
 using ::cartographer::mapping::PoseGraphInterface;
 using ::cartographer::mapping::TrajectoryBuilderInterface;
 using ::cartographer::mapping::testing::MockMapBuilder;
+using ::cartographer::mapping::testing::MockPoseGraph;
 using ::cartographer::mapping::testing::MockTrajectoryBuilder;
 using ::testing::_;
 using SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId;
@@ -126,6 +128,14 @@ class ClientServerTest : public ::testing::Test {
   void InitializeServerWithMockMapBuilder() {
     auto mock_map_builder = common::make_unique<MockMapBuilder>();
     mock_map_builder_ = mock_map_builder.get();
+    mock_pose_graph_ = common::make_unique<MockPoseGraph>();
+    EXPECT_CALL(
+        *mock_map_builder_,
+        pose_graph())
+        .WillOnce(::testing::Return(mock_pose_graph_.get()));
+    EXPECT_CALL(
+        *mock_pose_graph_,
+        SetGlobalSlamOptimizationCallback(_));
     server_ = common::make_unique<MapBuilderServer>(
         map_builder_server_options_, std::move(mock_map_builder));
     EXPECT_TRUE(server_ != nullptr);
@@ -160,6 +170,7 @@ class ClientServerTest : public ::testing::Test {
   proto::MapBuilderServerOptions map_builder_server_options_;
   proto::MapBuilderServerOptions uploading_map_builder_server_options_;
   MockMapBuilder* mock_map_builder_;
+  std::unique_ptr<MockPoseGraph> mock_pose_graph_;
   std::unique_ptr<MockTrajectoryBuilder> mock_trajectory_builder_;
   ::cartographer::mapping::proto::TrajectoryBuilderOptions
       trajectory_builder_options_;

cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.cc

@@ -0,0 +1,81 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.h"
+
+#include "async_grpc/rpc_handler.h"
+#include "cartographer/cloud/internal/map_builder_context_interface.h"
+#include "cartographer/cloud/proto/map_builder_service.pb.h"
+#include "cartographer/common/make_unique.h"
+#include "cartographer/transform/transform.h"
+
+namespace cartographer {
+namespace cloud {
+namespace handlers {
+namespace {
+
+std::unique_ptr<proto::ReceiveGlobalSlamOptimizationsResponse> GenerateResponse(
+    const std::map<int, mapping::SubmapId> &last_optimized_submap_ids,
+    const std::map<int, mapping::NodeId> &last_optimized_node_ids) {
+  auto response =
+      common::make_unique<proto::ReceiveGlobalSlamOptimizationsResponse>();
+  for (const auto &entry : last_optimized_submap_ids) {
+    entry.second.ToProto(
+        &(*response->mutable_last_optimized_submap_ids())[entry.first]);
+  }
+  for (const auto &entry : last_optimized_node_ids) {
+    entry.second.ToProto(
+        &(*response->mutable_last_optimized_node_ids())[entry.first]);
+  }
+  return response;
+}
+
+}  // namespace
+
+void ReceiveGlobalSlamOptimizationsHandler::OnRequest(
+    const google::protobuf::Empty &request) {
+  auto writer = GetWriter();
+  const int subscription_index =
+      GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->SubscribeGlobalSlamOptimizations(
+              [writer](const std::map<int, mapping::SubmapId>
+                           &last_optimized_submap_ids,
+                       const std::map<int, mapping::NodeId>
+                           &last_optimized_node_ids) {
+                if (!writer.Write(GenerateResponse(last_optimized_submap_ids,
+                                                   last_optimized_node_ids))) {
+                  // Client closed connection.
+                  LOG(INFO) << "Client closed connection.";
+                  return false;
+                }
+                return true;
+              });
+
+  LOG(INFO) << "Added subscription: " << subscription_index;
+  subscription_index_ = subscription_index;
+}
+
+void ReceiveGlobalSlamOptimizationsHandler::OnFinish() {
+  if (subscription_index_.has_value()) {
+    LOG(INFO) << "Removing subscription " << subscription_index_.value();
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->UnsubscribeGlobalSlamOptimizations(subscription_index_.value());
+  }
+}
+
+}  // namespace handlers
+}  // namespace cloud
+}  // namespace cartographer

cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.h

@@ -0,0 +1,49 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H
+
+#include <memory>
+
+#include "async_grpc/rpc_handler.h"
+#include "cartographer/cloud/internal/map_builder_context_interface.h"
+#include "cartographer/cloud/proto/map_builder_service.pb.h"
+
+namespace cartographer {
+namespace cloud {
+namespace handlers {
+
+DEFINE_HANDLER_SIGNATURE(
+    ReceiveGlobalSlamOptimizationsSignature, google::protobuf::Empty,
+    async_grpc::Stream<proto::ReceiveGlobalSlamOptimizationsResponse>,
+    "/cartographer.cloud.proto.MapBuilderService/"
+    "ReceiveGlobalSlamOptimizations")
+
+class ReceiveGlobalSlamOptimizationsHandler
+    : public async_grpc::RpcHandler<ReceiveGlobalSlamOptimizationsSignature> {
+ public:
+  void OnRequest(const google::protobuf::Empty &request) override;
+  void OnFinish() override;
+
+ private:
+  common::optional<int> subscription_index_;
+};
+
+}  // namespace handlers
+}  // namespace cloud
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H

cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc

@@ -51,7 +51,7 @@ std::unique_ptr<proto::ReceiveLocalSlamResultsResponse> GenerateResponse(
 void ReceiveLocalSlamResultsHandler::OnRequest(
     const proto::ReceiveLocalSlamResultsRequest& request) {
   auto writer = GetWriter();
-  MapBuilderContextInterface::SubscriptionId subscription_id =
+  MapBuilderContextInterface::LocalSlamSubscriptionId subscription_id =
       GetUnsynchronizedContext<MapBuilderContextInterface>()
           ->SubscribeLocalSlamResults(
               request.trajectory_id(),
@@ -59,16 +59,22 @@ void ReceiveLocalSlamResultsHandler::OnRequest(
                   std::unique_ptr<MapBuilderContextInterface::LocalSlamResult>
                       local_slam_result) {
                 if (local_slam_result) {
-                  writer.Write(GenerateResponse(std::move(local_slam_result)));
+                  if (!writer.Write(
+                          GenerateResponse(std::move(local_slam_result)))) {
+                    // Client closed connection.
+                    LOG(INFO) << "Client closed connection.";
+                    return false;
+                  }
                 } else {
                   // Callback with 'nullptr' signals that the trajectory
                   // finished.
                   writer.WritesDone();
                 }
+                return true;
               });
 
   subscription_id_ =
-      common::make_unique<MapBuilderContextInterface::SubscriptionId>(
+      common::make_unique<MapBuilderContextInterface::LocalSlamSubscriptionId>(
           subscription_id);
 }
 

cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h

@@ -39,7 +39,8 @@ class ReceiveLocalSlamResultsHandler
   void OnFinish() override;
 
  private:
-  std::unique_ptr<MapBuilderContextInterface::SubscriptionId> subscription_id_;
+  std::unique_ptr<MapBuilderContextInterface::LocalSlamSubscriptionId>
+      subscription_id_;
 };
 
 }  // namespace handlers

cartographer/cloud/internal/map_builder_context_impl.h

@@ -61,7 +61,7 @@ void MapBuilderContext<SubmapType>::AddSensorDataToTrajectory(
 }
 
 template <class SubmapType>
-MapBuilderContextInterface::SubscriptionId
+MapBuilderContextInterface::LocalSlamSubscriptionId
 MapBuilderContext<SubmapType>::SubscribeLocalSlamResults(
     int trajectory_id, LocalSlamSubscriptionCallback callback) {
   return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
@@ -70,10 +70,22 @@ MapBuilderContext<SubmapType>::SubscribeLocalSlamResults(
 
 template <class SubmapType>
 void MapBuilderContext<SubmapType>::UnsubscribeLocalSlamResults(
-    const SubscriptionId& subscription_id) {
+    const LocalSlamSubscriptionId& subscription_id) {
   map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
 }
 
+template <class SubmapType>
+int MapBuilderContext<SubmapType>::SubscribeGlobalSlamOptimizations(
+    GlobalSlamOptimizationCallback callback) {
+  return map_builder_server_->SubscribeGlobalSlamOptimizations(callback);
+}
+
+template <class SubmapType>
+void MapBuilderContext<SubmapType>::UnsubscribeGlobalSlamOptimizations(
+    int subscription_index) {
+  map_builder_server_->UnsubscribeGlobalSlamOptimizations(subscription_index);
+}
+
 template <class SubmapType>
 void MapBuilderContext<SubmapType>::NotifyFinishTrajectory(int trajectory_id) {
   map_builder_server_->NotifyFinishTrajectory(trajectory_id);

cartographer/cloud/internal/map_builder_context_interface.h

@@ -21,6 +21,7 @@
 #include "cartographer/cloud/internal/local_trajectory_uploader.h"
 #include "cartographer/common/blocking_queue.h"
 #include "cartographer/mapping/map_builder_interface.h"
+#include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/range_data.h"
@@ -40,14 +41,27 @@ class MapBuilderContextInterface : public async_grpc::ExecutionContext {
     std::unique_ptr<const mapping::TrajectoryBuilderInterface::InsertionResult>
         insertion_result;
   };
-  // Calling with 'nullptr' signals subscribers that the subscription has ended.
+  // Calling with 'nullptr' signals subscribers that the subscription has ended,
+  // e.g. this happens when the corresponding trajectory was finished and hence
+  // no more local SLAM updates will occur.
+  // The callback can return 'false' to indicate that the client is not
+  // interested in more local SLAM updates and 'MapBuilderServer' will end the
+  // subscription.
   using LocalSlamSubscriptionCallback =
-      std::function<void(std::unique_ptr<LocalSlamResult>)>;
+      std::function<bool(std::unique_ptr<LocalSlamResult>)>;
+
+  // The callback can return 'false' to indicate that the client is not
+  // interested in more global SLAM runs and 'MapBuilderServer' will end the
+  // subscription.
+  using GlobalSlamOptimizationCallback = std::function<bool(
+      const std::map<int /* trajectory_id */, mapping::SubmapId>&,
+      const std::map<int /* trajectory_id */, mapping::NodeId>&)>;
+
   struct Data {
     int trajectory_id;
     std::unique_ptr<sensor::Data> data;
   };
-  struct SubscriptionId {
+  struct LocalSlamSubscriptionId {
     const int trajectory_id;
     const int subscription_index;
   };
@@ -64,10 +78,13 @@ class MapBuilderContextInterface : public async_grpc::ExecutionContext {
   virtual mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
   GetLocalSlamResultCallbackForSubscriptions() = 0;
   virtual void AddSensorDataToTrajectory(const Data& sensor_data) = 0;
-  virtual SubscriptionId SubscribeLocalSlamResults(
+  virtual LocalSlamSubscriptionId SubscribeLocalSlamResults(
       int trajectory_id, LocalSlamSubscriptionCallback callback) = 0;
   virtual void UnsubscribeLocalSlamResults(
-      const SubscriptionId& subscription_id) = 0;
+      const LocalSlamSubscriptionId& subscription_id) = 0;
+  virtual int SubscribeGlobalSlamOptimizations(
+      GlobalSlamOptimizationCallback callback) = 0;
+  virtual void UnsubscribeGlobalSlamOptimizations(int subscription_index) = 0;
   virtual void NotifyFinishTrajectory(int trajectory_id) = 0;
   virtual LocalTrajectoryUploaderInterface* local_trajectory_uploader() = 0;
   virtual void EnqueueSensorData(int trajectory_id,

cartographer/cloud/internal/map_builder_server.cc

@@ -33,6 +33,7 @@
 #include "cartographer/cloud/internal/handlers/is_trajectory_finished_handler.h"
 #include "cartographer/cloud/internal/handlers/is_trajectory_frozen_handler.h"
 #include "cartographer/cloud/internal/handlers/load_state_handler.h"
+#include "cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.h"
 #include "cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h"
 #include "cartographer/cloud/internal/handlers/run_final_optimization_handler.h"
 #include "cartographer/cloud/internal/handlers/set_landmark_pose_handler.h"
@@ -73,6 +74,8 @@ MapBuilderServer::MapBuilderServer(
   server_builder.RegisterHandler<handlers::AddLandmarkDataHandler>();
   server_builder.RegisterHandler<handlers::AddSensorDataBatchHandler>();
   server_builder.RegisterHandler<handlers::FinishTrajectoryHandler>();
+  server_builder
+      .RegisterHandler<handlers::ReceiveGlobalSlamOptimizationsHandler>();
   server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler>();
   server_builder.RegisterHandler<handlers::GetSubmapHandler>();
   server_builder.RegisterHandler<handlers::GetTrajectoryNodePosesHandler>();
@@ -99,6 +102,9 @@ MapBuilderServer::MapBuilderServer(
     LOG(FATAL)
         << "Set either use_trajectory_builder_2d or use_trajectory_builder_3d";
   }
+  map_builder_->pose_graph()->SetGlobalSlamOptimizationCallback(
+      std::bind(&MapBuilderServer::OnGlobalSlamOptimizations, this,
+                std::placeholders::_1, std::placeholders::_2));
 }
 
 void MapBuilderServer::Start() {
@@ -184,7 +190,7 @@ void MapBuilderServer::OnLocalSlamResult(
         ->EnqueueSensorData(std::move(sensor_data));
   }
 
-  common::MutexLocker locker(&local_slam_subscriptions_lock_);
+  common::MutexLocker locker(&subscriptions_lock_);
   for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
     auto copy_of_insertion_result =
         insertion_result
@@ -194,34 +200,64 @@ void MapBuilderServer::OnLocalSlamResult(
             : nullptr;
     MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
         entry.second;
-    callback(common::make_unique<MapBuilderContextInterface::LocalSlamResult>(
+    if (!callback(
-        MapBuilderContextInterface::LocalSlamResult{
+            common::make_unique<MapBuilderContextInterface::LocalSlamResult>(
-            trajectory_id, time, local_pose, shared_range_data,
+                MapBuilderContextInterface::LocalSlamResult{
-            std::move(copy_of_insertion_result)}));
+                    trajectory_id, time, local_pose, shared_range_data,
+                    std::move(copy_of_insertion_result)}))) {
+      LOG(INFO) << "Removing subscription with index: " << entry.first;
+      CHECK_EQ(local_slam_subscriptions_[trajectory_id].erase(entry.first), 1u);
+    }
   }
 }
 
-MapBuilderContextInterface::SubscriptionId
+void MapBuilderServer::OnGlobalSlamOptimizations(
+    const std::map<int, mapping::SubmapId>& last_optimized_submap_ids,
+    const std::map<int, mapping::NodeId>& last_optimized_node_ids) {
+  common::MutexLocker locker(&subscriptions_lock_);
+  for (auto& entry : global_slam_subscriptions_) {
+    if (!entry.second(last_optimized_submap_ids, last_optimized_node_ids)) {
+      LOG(INFO) << "Removing subscription with index: " << entry.first;
+      CHECK_EQ(global_slam_subscriptions_.erase(entry.first), 1u);
+    }
+  }
+}
+
+MapBuilderContextInterface::LocalSlamSubscriptionId
 MapBuilderServer::SubscribeLocalSlamResults(
     int trajectory_id,
     MapBuilderContextInterface::LocalSlamSubscriptionCallback callback) {
-  common::MutexLocker locker(&local_slam_subscriptions_lock_);
+  common::MutexLocker locker(&subscriptions_lock_);
   local_slam_subscriptions_[trajectory_id].emplace(current_subscription_index_,
                                                    callback);
-  return MapBuilderContextInterface::SubscriptionId{
+  return MapBuilderContextInterface::LocalSlamSubscriptionId{
       trajectory_id, current_subscription_index_++};
 }
 
 void MapBuilderServer::UnsubscribeLocalSlamResults(
-    const MapBuilderContextInterface::SubscriptionId& subscription_id) {
+    const MapBuilderContextInterface::LocalSlamSubscriptionId&
-  common::MutexLocker locker(&local_slam_subscriptions_lock_);
+        subscription_id) {
+  common::MutexLocker locker(&subscriptions_lock_);
   CHECK_EQ(local_slam_subscriptions_[subscription_id.trajectory_id].erase(
                subscription_id.subscription_index),
            1u);
 }
 
+int MapBuilderServer::SubscribeGlobalSlamOptimizations(
+    MapBuilderContextInterface::GlobalSlamOptimizationCallback callback) {
+  common::MutexLocker locker(&subscriptions_lock_);
+  global_slam_subscriptions_.emplace(current_subscription_index_, callback);
+  return current_subscription_index_++;
+}
+
+void MapBuilderServer::UnsubscribeGlobalSlamOptimizations(
+    int subscription_index) {
+  common::MutexLocker locker(&subscriptions_lock_);
+  CHECK_EQ(global_slam_subscriptions_.erase(subscription_index), 1u);
+}
+
 void MapBuilderServer::NotifyFinishTrajectory(int trajectory_id) {
-  common::MutexLocker locker(&local_slam_subscriptions_lock_);
+  common::MutexLocker locker(&subscriptions_lock_);
   for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
     MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
         entry.second;

cartographer/cloud/internal/map_builder_server.h

@@ -49,10 +49,13 @@ class MapBuilderContext : public MapBuilderContextInterface {
   mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
   GetLocalSlamResultCallbackForSubscriptions() override;
   void AddSensorDataToTrajectory(const Data& sensor_data) override;
-  MapBuilderContextInterface::SubscriptionId SubscribeLocalSlamResults(
+  MapBuilderContextInterface::LocalSlamSubscriptionId SubscribeLocalSlamResults(
       int trajectory_id, LocalSlamSubscriptionCallback callback) override;
   void UnsubscribeLocalSlamResults(
-      const SubscriptionId& subscription_id) override;
+      const LocalSlamSubscriptionId& subscription_id) override;
+  int SubscribeGlobalSlamOptimizations(
+      GlobalSlamOptimizationCallback callback) override;
+  void UnsubscribeGlobalSlamOptimizations(int subscription_index) override;
   void NotifyFinishTrajectory(int trajectory_id) override;
   LocalTrajectoryUploaderInterface* local_trajectory_uploader() override;
   void EnqueueSensorData(int trajectory_id,
@@ -107,11 +110,18 @@ class MapBuilderServer : public MapBuilderServerInterface {
       std::unique_ptr<
           const mapping::TrajectoryBuilderInterface::InsertionResult>
           insertion_result);
-  MapBuilderContextInterface::SubscriptionId SubscribeLocalSlamResults(
+  void OnGlobalSlamOptimizations(
+      const std::map<int, mapping::SubmapId>& last_optimized_submap_ids,
+      const std::map<int, mapping::NodeId>& last_optimized_node_ids);
+  MapBuilderContextInterface::LocalSlamSubscriptionId SubscribeLocalSlamResults(
       int trajectory_id,
       MapBuilderContextInterface::LocalSlamSubscriptionCallback callback);
   void UnsubscribeLocalSlamResults(
-      const MapBuilderContextInterface::SubscriptionId& subscription_id);
+      const MapBuilderContextInterface::LocalSlamSubscriptionId&
+          subscription_id);
+  int SubscribeGlobalSlamOptimizations(
+      MapBuilderContextInterface::GlobalSlamOptimizationCallback callback);
+  void UnsubscribeGlobalSlamOptimizations(int subscription_index);
   void NotifyFinishTrajectory(int trajectory_id);
 
   bool shutting_down_ = false;
@@ -120,10 +130,13 @@ class MapBuilderServer : public MapBuilderServerInterface {
   std::unique_ptr<mapping::MapBuilderInterface> map_builder_;
   common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>
       incoming_data_queue_;
-  common::Mutex local_slam_subscriptions_lock_;
+  common::Mutex subscriptions_lock_;
   int current_subscription_index_ = 0;
   std::map<int /* trajectory ID */, LocalSlamResultHandlerSubscriptions>
-      local_slam_subscriptions_ GUARDED_BY(local_slam_subscriptions_lock_);
+      local_slam_subscriptions_ GUARDED_BY(subscriptions_lock_);
+  std::map<int /* subscription_index */,
+           MapBuilderContextInterface::GlobalSlamOptimizationCallback>
+      global_slam_subscriptions_ GUARDED_BY(subscriptions_lock_);
   std::unique_ptr<LocalTrajectoryUploaderInterface> local_trajectory_uploader_;
   int starting_submap_index_ = 0;
 };

cartographer/cloud/internal/testing/mock_map_builder_context.h

@@ -39,11 +39,15 @@ class MockMapBuilderContext : public MapBuilderContextInterface {
   MOCK_METHOD1(AddSensorDataToTrajectory,
                void(const MapBuilderContextInterface::Data &));
   MOCK_METHOD2(SubscribeLocalSlamResults,
-               MapBuilderContextInterface::SubscriptionId(
+               MapBuilderContextInterface::LocalSlamSubscriptionId(
                    int,
                    MapBuilderContextInterface::LocalSlamSubscriptionCallback));
-  MOCK_METHOD1(UnsubscribeLocalSlamResults,
+  MOCK_METHOD1(
-               void(const MapBuilderContextInterface::SubscriptionId &));
+      UnsubscribeLocalSlamResults,
+      void(const MapBuilderContextInterface::LocalSlamSubscriptionId &));
+  MOCK_METHOD1(SubscribeGlobalSlamOptimizations,
+               int(GlobalSlamOptimizationCallback));
+  MOCK_METHOD1(UnsubscribeGlobalSlamOptimizations, void(int));
   MOCK_METHOD1(NotifyFinishTrajectory, void(int));
   MOCK_METHOD0(local_trajectory_uploader, LocalTrajectoryUploaderInterface *());
 

cartographer/cloud/proto/map_builder_service.proto

@@ -114,6 +114,13 @@ message ReceiveLocalSlamResultsResponse {
   LocalSlamInsertionResult insertion_result = 5;
 }
 
+message ReceiveGlobalSlamOptimizationsResponse {
+  map<int32 /* trajectory_id */, cartographer.mapping.proto.NodeId>
+      last_optimized_node_ids = 1;
+  map<int32 /* trajectory_id */, cartographer.mapping.proto.SubmapId>
+      last_optimized_submap_ids = 2;
+}
+
 message GetSubmapRequest {
   cartographer.mapping.proto.SubmapId submap_id = 1;
 }
@@ -230,6 +237,10 @@ service MapBuilderService {
   rpc ReceiveLocalSlamResults(ReceiveLocalSlamResultsRequest)
       returns (stream ReceiveLocalSlamResultsResponse);
 
+  // Requests the server to send a stream of global SLAM notifications.
+  rpc ReceiveGlobalSlamOptimizations(google.protobuf.Empty)
+      returns (stream ReceiveGlobalSlamOptimizationsResponse);
+
   // Marks a trajectory corresponding to 'trajectory_id' as finished,
   // i.e. no further sensor data is expected.
   rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);