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Offline multi-trajectory: use topic names without 'bag_n_' prefix by default (#707) 

This fixes offline_backpack_*.launch for multiple bags.
master
Juraj Oršulić 2018-02-28 11:51:17 +01:00 committed by Wally B. Feed
parent ebbb1da8b0
commit 22261553bb
1 changed files with 15 additions and 2 deletions
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15
cartographer_ros/cartographer_ros/offline_node.cc
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@ -156,8 +156,21 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
}, },
false /* oneshot */, false /* autostart */); false /* oneshot */, false /* autostart */);
auto bag_expected_sensor_ids = std::vector<
std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>>
bag_expected_sensor_ids;
if (configuration_basenames.size() == 1) {
const auto current_bag_expected_sensor_ids =
node.ComputeDefaultSensorIdsForMultipleBags(
{bag_trajectory_options.front()});
bag_expected_sensor_ids = {bag_filenames.size(),
current_bag_expected_sensor_ids.front()};
} else {
bag_expected_sensor_ids =
node.ComputeDefaultSensorIdsForMultipleBags(bag_trajectory_options); node.ComputeDefaultSensorIdsForMultipleBags(bag_trajectory_options);
}
CHECK_EQ(bag_expected_sensor_ids.size(), bag_filenames.size());
std::map<std::pair<int /* bag_index */, std::string>, std::map<std::pair<int /* bag_index */, std::string>,
cartographer::mapping::TrajectoryBuilderInterface::SensorId> cartographer::mapping::TrajectoryBuilderInterface::SensorId>
bag_topic_to_sensor_id; bag_topic_to_sensor_id;