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Remove custom SIGINT handler from offline node. (#470)

master
Juraj Oršulić 2017-08-03 12:29:07 +02:00 committed by Wolfgang Hess
parent 63aba81e31
commit 2042b73010
1 changed files with 3 additions and 10 deletions
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13
cartographer_ros/cartographer_ros/offline_node_main.cc
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@ -16,7 +16,6 @@
#include <time.h> #include <time.h>
#include <chrono> #include <chrono>
#include <csignal>
#include <sstream> #include <sstream>
#include <string> #include <string>
#include <vector> #include <vector>
@ -62,10 +61,6 @@ constexpr char kClockTopic[] = "clock";
constexpr char kTfStaticTopic[] = "/tf_static"; constexpr char kTfStaticTopic[] = "/tf_static";
constexpr char kTfTopic[] = "tf"; constexpr char kTfTopic[] = "tf";
volatile std::sig_atomic_t sigint_triggered = 0;
void SigintHandler(int) { sigint_triggered = 1; }
// TODO(hrapp): This is duplicated in node_main.cc. Pull out into a config // TODO(hrapp): This is duplicated in node_main.cc. Pull out into a config
// unit. // unit.
std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() { std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
@ -130,7 +125,7 @@ void Run(const std::vector<string>& bag_filenames) {
} }
for (const string& bag_filename : bag_filenames) { for (const string& bag_filename : bag_filenames) {
if (sigint_triggered) { if (!::ros::ok()) {
break; break;
} }
@ -148,7 +143,7 @@ void Run(const std::vector<string>& bag_filenames) {
// because it gets very inefficient with a large one. // because it gets very inefficient with a large one.
std::deque<rosbag::MessageInstance> delayed_messages; std::deque<rosbag::MessageInstance> delayed_messages;
for (const rosbag::MessageInstance& msg : view) { for (const rosbag::MessageInstance& msg : view) {
if (sigint_triggered) { if (!::ros::ok()) {
break; break;
} }
@ -252,9 +247,7 @@ int main(int argc, char** argv) {
<< "-configuration_basename is missing."; << "-configuration_basename is missing.";
CHECK(!FLAGS_bag_filenames.empty()) << "-bag_filenames is missing."; CHECK(!FLAGS_bag_filenames.empty()) << "-bag_filenames is missing.";
std::signal(SIGINT, &::cartographer_ros::SigintHandler); ::ros::init(argc, argv, "cartographer_offline_node");
::ros::init(argc, argv, "cartographer_offline_node",
::ros::init_options::NoSigintHandler);
::ros::start(); ::ros::start();
cartographer_ros::ScopedRosLogSink ros_log_sink; cartographer_ros::ScopedRosLogSink ros_log_sink;