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Discard proto data in pbstream_map_publisher via RAII. (#912) 

We don't need it after the occupancy grid is drawn.
Reduces the memory consumption especially for large maps.
master
Michael Grupp 2018-06-29 12:29:32 +02:00 committed by Wally B. Feed
parent 8bbec6bff7
commit 0e65aa55b9
1 changed files with 14 additions and 8 deletions
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22
cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
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@ -48,8 +48,8 @@ DEFINE_double(resolution, 0.05, "Resolution of a grid cell in the drawn map.");
namespace cartographer_ros { namespace cartographer_ros {
namespace { namespace {
void Run(const std::string& pbstream_filename, const std::string& map_topic, std::unique_ptr<nav_msgs::OccupancyGrid> LoadOccupancyGridMsg(
const std::string& map_frame_id, const double resolution) { const std::string& pbstream_filename, const double resolution) {
::cartographer::io::ProtoStreamReader reader(pbstream_filename); ::cartographer::io::ProtoStreamReader reader(pbstream_filename);
::cartographer::io::ProtoStreamDeserializer deserializer(&reader); ::cartographer::io::ProtoStreamDeserializer deserializer(&reader);
@ -73,15 +73,21 @@ void Run(const std::string& pbstream_filename, const std::string& map_topic,
} }
CHECK(reader.eof()); CHECK(reader.eof());
::ros::NodeHandle node_handle("");
::ros::Publisher pub = node_handle.advertise<nav_msgs::OccupancyGrid>(
map_topic, kLatestOnlyPublisherQueueSize, true /*latched */);
LOG(INFO) << "Generating combined map image from submap slices."; LOG(INFO) << "Generating combined map image from submap slices.";
const auto painted_slices = const auto painted_slices =
::cartographer::io::PaintSubmapSlices(submap_slices, resolution); ::cartographer::io::PaintSubmapSlices(submap_slices, resolution);
std::unique_ptr<nav_msgs::OccupancyGrid> msg_ptr = CreateOccupancyGridMsg( return CreateOccupancyGridMsg(painted_slices, resolution, FLAGS_map_frame_id,
painted_slices, resolution, FLAGS_map_frame_id, ros::Time::now()); ros::Time::now());
}
void Run(const std::string& pbstream_filename, const std::string& map_topic,
const std::string& map_frame_id, const double resolution) {
std::unique_ptr<nav_msgs::OccupancyGrid> msg_ptr =
LoadOccupancyGridMsg(pbstream_filename, resolution);
::ros::NodeHandle node_handle("");
::ros::Publisher pub = node_handle.advertise<nav_msgs::OccupancyGrid>(
map_topic, kLatestOnlyPublisherQueueSize, true /*latched */);
LOG(INFO) << "Publishing occupancy grid topic " << map_topic LOG(INFO) << "Publishing occupancy grid topic " << map_topic
<< " (frame_id: " << map_frame_id << " (frame_id: " << map_frame_id