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Follow https://github.com/googlecartographer/cartographer/pull/955. (#751)

master
Alexander Belyaev 2018-03-02 23:09:24 +01:00 committed by GitHub
parent 61dd57bd94
commit 319b60af4c
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2 changed files with 5 additions and 6 deletions
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9
cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
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@ -42,7 +42,6 @@ DEFINE_string(load_state_filename, "",
"to load, containing a saved SLAM state."); "to load, containing a saved SLAM state.");
namespace cartographer_ros { namespace cartographer_ros {
namespace cartographer_grpc {
namespace { namespace {
void Run() { void Run() {
@ -54,8 +53,9 @@ void Run() {
std::tie(node_options, trajectory_options) = std::tie(node_options, trajectory_options) =
LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename); LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename);
auto map_builder = cartographer::common::make_unique< auto map_builder =
::cartographer_grpc::mapping::MapBuilderStub>(FLAGS_server_address); cartographer::common::make_unique<::cartographer::cloud::MapBuilderStub>(
FLAGS_server_address);
Node node(node_options, std::move(map_builder), &tf_buffer); Node node(node_options, std::move(map_builder), &tf_buffer);
if (!FLAGS_load_state_filename.empty()) { if (!FLAGS_load_state_filename.empty()) {
@ -77,7 +77,6 @@ void Run() {
} }
} // namespace } // namespace
} // namespace cartographer_grpc
} // namespace cartographer_ros } // namespace cartographer_ros
int main(int argc, char** argv) { int main(int argc, char** argv) {
@ -93,6 +92,6 @@ int main(int argc, char** argv) {
::ros::start(); ::ros::start();
cartographer_ros::ScopedRosLogSink ros_log_sink; cartographer_ros::ScopedRosLogSink ros_log_sink;
cartographer_ros::cartographer_grpc::Run(); cartographer_ros::Run();
::ros::shutdown(); ::ros::shutdown();
} }

2
cartographer_ros/cartographer_ros/cartographer_grpc/offline_node_grpc_main.cc
View File

@ -36,7 +36,7 @@ int main(int argc, char** argv) {
const cartographer_ros::MapBuilderFactory map_builder_factory = const cartographer_ros::MapBuilderFactory map_builder_factory =
[](const ::cartographer::mapping::proto::MapBuilderOptions&) { [](const ::cartographer::mapping::proto::MapBuilderOptions&) {
return ::cartographer::common::make_unique< return ::cartographer::common::make_unique<
::cartographer_grpc::mapping::MapBuilderStub>(FLAGS_server_address); ::cartographer::cloud::MapBuilderStub>(FLAGS_server_address);
}; };
cartographer_ros::RunOfflineNode(map_builder_factory); cartographer_ros::RunOfflineNode(map_builder_factory);