Add flag to start first trajectory. (#482)
parent
cf13f76c82
commit
5a2db79fc3
|
@ -28,6 +28,9 @@ DEFINE_string(configuration_basename, "",
|
|||
"Basename, i.e. not containing any directory prefix, of the "
|
||||
"configuration file.");
|
||||
DEFINE_string(map_filename, "", "If non-empty, filename of a map to load.");
|
||||
DEFINE_bool(
|
||||
start_trajectory_with_default_topics, true,
|
||||
"Enable to immediately start the first trajectory with default topics.");
|
||||
|
||||
namespace cartographer_ros {
|
||||
namespace {
|
||||
|
@ -45,7 +48,10 @@ void Run() {
|
|||
if (!FLAGS_map_filename.empty()) {
|
||||
node.LoadMap(FLAGS_map_filename);
|
||||
}
|
||||
|
||||
if (FLAGS_start_trajectory_with_default_topics) {
|
||||
node.StartTrajectoryWithDefaultTopics(trajectory_options);
|
||||
}
|
||||
|
||||
::ros::spin();
|
||||
|
||||
|
|
Loading…
Reference in New Issue