From 24239beec84297650d537617ce3d8c6cf3bc858a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= Date: Wed, 28 Feb 2018 14:13:24 +0100 Subject: [PATCH] s/LoadMap/LoadState in node_grpc_main.cc (#744) --- .../cartographer_ros/cartographer_grpc/node_grpc_main.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc index 961bdca..b8eee32 100644 --- a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc +++ b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc @@ -37,7 +37,9 @@ DEFINE_bool( DEFINE_string( save_map_filename, "", "If non-empty, serialize state and write it to disk before shutting down."); -DEFINE_string(map_filename, "", "If non-empty, filename of a map to load."); +DEFINE_string(load_state_filename, "", + "If non-empty, filename of a .pbstream file " + "to load, containing a saved SLAM state."); namespace cartographer_ros { namespace cartographer_grpc { @@ -56,8 +58,8 @@ void Run() { ::cartographer_grpc::mapping::MapBuilderStub>(FLAGS_server_address); Node node(node_options, std::move(map_builder), &tf_buffer); - if (!FLAGS_map_filename.empty()) { - node.LoadMap(FLAGS_map_filename); + if (!FLAGS_load_state_filename.empty()) { + node.LoadState(FLAGS_load_state_filename, true /* load_frozen_state */); } if (FLAGS_start_trajectory_with_default_topics) {