From 0d65d13cd8fdeef6fe51686994cf78fa49c7ead1 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Wed, 16 Jan 2019 12:46:10 +0100
Subject: [PATCH] Don't run final optimization in visualize_pbstream.launch
 (#1157)

* Don't run final optimization in visualize_pbstream.launch

Replaces the offline node with the normal node.

The problem is that the offline node immediately runs a final
optimization with `visualize_pbstream.lua`, which is most likely not the
configuration that was used to generate the pbstream. This can lead to
effects like distortions in the map e.g. due to different weights, even
though the actual saved state is fine.

* Drop all /echoes or /imu messages.

* Use -start_trajectory_with_default_topics=false
---
 cartographer_ros/launch/visualize_pbstream.launch | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/cartographer_ros/launch/visualize_pbstream.launch b/cartographer_ros/launch/visualize_pbstream.launch
index 764f5ff..cf5b7e0 100644
--- a/cartographer_ros/launch/visualize_pbstream.launch
+++ b/cartographer_ros/launch/visualize_pbstream.launch
@@ -17,13 +17,13 @@
 <launch>
   <node name="rviz" pkg="rviz" type="rviz" required="true"
       args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
-  <node name="cartographer_offline_node" pkg="cartographer_ros"
-      type="cartographer_offline_node" args="
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basenames visualize_pbstream.lua
-          -keep_running=true
+          -configuration_basename visualize_pbstream.lua
           -load_state_filename $(arg pbstream_filename)
-          -load_frozen_state=false"
+          -load_frozen_state=false
+          -start_trajectory_with_default_topics=false"
       output="screen">
   </node>
 </launch>