Deduplicate LoadOptions(). (#471)

cartographer_ros/cartographer_ros/configuration_files_test.cc

@@ -17,10 +17,7 @@
 #include <string>
 #include <vector>
 
-#include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer_ros/node_options.h"
-#include "cartographer_ros/trajectory_options.h"
 #include "gtest/gtest.h"
 #include "ros/package.h"
 
@@ -31,14 +28,9 @@ class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};
 
 TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
   EXPECT_NO_FATAL_FAILURE({
-    auto file_resolver = ::cartographer::common::make_unique<
-        ::cartographer::common::ConfigurationFileResolver>(std::vector<string>{
-        ::ros::package::getPath("cartographer_ros") + "/configuration_files"});
-    const string code = file_resolver->GetFileContentOrDie(GetParam());
-    ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
-        code, std::move(file_resolver));
-    ::cartographer_ros::CreateNodeOptions(&lua_parameter_dictionary);
-    ::cartographer_ros::CreateTrajectoryOptions(&lua_parameter_dictionary);
+    LoadOptions(
+        ::ros::package::getPath("cartographer_ros") + "/configuration_files",
+        GetParam());
   });
 }
 

cartographer_ros/cartographer_ros/node_main.cc

@@ -14,13 +14,6 @@
  * limitations under the License.
  */
 
-#include <string>
-#include <vector>
-
-#include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/common/make_unique.h"
-#include "cartographer/common/port.h"
 #include "cartographer_ros/node.h"
 #include "cartographer_ros/node_options.h"
 #include "cartographer_ros/ros_log_sink.h"
@@ -39,26 +32,14 @@ DEFINE_string(map_filename, "", "If non-empty, filename of a map to load.");
 namespace cartographer_ros {
 namespace {
 
-std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
-  auto file_resolver = cartographer::common::make_unique<
-      cartographer::common::ConfigurationFileResolver>(
-      std::vector<string>{FLAGS_configuration_directory});
-  const string code =
-      file_resolver->GetFileContentOrDie(FLAGS_configuration_basename);
-  cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
-      code, std::move(file_resolver));
-
-  return std::make_tuple(CreateNodeOptions(&lua_parameter_dictionary),
-                         CreateTrajectoryOptions(&lua_parameter_dictionary));
-}
-
 void Run() {
   constexpr double kTfBufferCacheTimeInSeconds = 1e6;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   NodeOptions node_options;
   TrajectoryOptions trajectory_options;
-  std::tie(node_options, trajectory_options) = LoadOptions();
+  std::tie(node_options, trajectory_options) =
+      LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename);
 
   Node node(node_options, &tf_buffer);
   if (!FLAGS_map_filename.empty()) {

cartographer_ros/cartographer_ros/node_options.cc

@@ -16,6 +16,10 @@
 
 #include "cartographer_ros/node_options.h"
 
+#include <vector>
+
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/mapping/map_builder.h"
 #include "glog/logging.h"
 
 namespace cartographer_ros {
@@ -36,8 +40,22 @@ NodeOptions CreateNodeOptions(
       lua_parameter_dictionary->GetDouble("pose_publish_period_sec");
   options.trajectory_publish_period_sec =
       lua_parameter_dictionary->GetDouble("trajectory_publish_period_sec");
-
   return options;
 }
 
+std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(
+    const string& configuration_directory,
+    const string& configuration_basename) {
+  auto file_resolver = cartographer::common::make_unique<
+      cartographer::common::ConfigurationFileResolver>(
+      std::vector<string>{configuration_directory});
+  const string code =
+      file_resolver->GetFileContentOrDie(configuration_basename);
+  cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
+      code, std::move(file_resolver));
+
+  return std::make_tuple(CreateNodeOptions(&lua_parameter_dictionary),
+                         CreateTrajectoryOptions(&lua_parameter_dictionary));
+}
+
 }  // namespace cartographer_ros

cartographer_ros/cartographer_ros/node_options.h

@@ -18,9 +18,12 @@
 #define CARTOGRAPHER_ROS_NODE_OPTIONS_H_
 
 #include <string>
+#include <tuple>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/map_builder.h"
+#include "cartographer/common/port.h"
+#include "cartographer/mapping/proto/map_builder_options.pb.h"
+#include "cartographer_ros/trajectory_options.h"
 
 namespace cartographer_ros {
 
@@ -37,6 +40,10 @@ struct NodeOptions {
 NodeOptions CreateNodeOptions(
     ::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary);
 
+std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(
+    const string& configuration_directory,
+    const string& configuration_basename);
+
 }  // namespace cartographer_ros
 
 #endif  // CARTOGRAPHER_ROS_NODE_OPTIONS_H_

cartographer_ros/cartographer_ros/offline_node_main.cc

@@ -20,8 +20,6 @@
 #include <string>
 #include <vector>
 
-#include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/port.h"
 #include "cartographer_ros/node.h"
@@ -61,27 +59,13 @@ constexpr char kClockTopic[] = "clock";
 constexpr char kTfStaticTopic[] = "/tf_static";
 constexpr char kTfTopic[] = "tf";
 
-// TODO(hrapp): This is duplicated in node_main.cc. Pull out into a config
-// unit.
-std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
-  auto file_resolver = cartographer::common::make_unique<
-      cartographer::common::ConfigurationFileResolver>(
-      std::vector<string>{FLAGS_configuration_directory});
-  const string code =
-      file_resolver->GetFileContentOrDie(FLAGS_configuration_basename);
-  cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
-      code, std::move(file_resolver));
-
-  return std::make_tuple(CreateNodeOptions(&lua_parameter_dictionary),
-                         CreateTrajectoryOptions(&lua_parameter_dictionary));
-}
-
 void Run(const std::vector<string>& bag_filenames) {
   const std::chrono::time_point<std::chrono::steady_clock> start_time =
       std::chrono::steady_clock::now();
   NodeOptions node_options;
   TrajectoryOptions trajectory_options;
-  std::tie(node_options, trajectory_options) = LoadOptions();
+  std::tie(node_options, trajectory_options) =
+      LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename);
 
   tf2_ros::Buffer tf_buffer;
 

cartographer_ros/cartographer_ros/trajectory_options.cc

@@ -16,6 +16,7 @@
 
 #include "cartographer_ros/trajectory_options.h"
 
+#include "cartographer/mapping/trajectory_builder.h"
 #include "glog/logging.h"
 
 namespace cartographer_ros {

cartographer_ros/cartographer_ros/trajectory_options.h

@@ -21,7 +21,7 @@
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/port.h"
-#include "cartographer_ros/sensor_bridge.h"
+#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer_ros_msgs/TrajectoryOptions.h"
 
 namespace cartographer_ros {