Use start_trajectory_node topic remappings for the new trajectory. (#584)
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ff92e9e4bd
commit
67030b1ad3
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@ -59,11 +59,14 @@ bool Run() {
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kStartTrajectoryServiceName);
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kStartTrajectoryServiceName);
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cartographer_ros_msgs::StartTrajectory srv;
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cartographer_ros_msgs::StartTrajectory srv;
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srv.request.options = ToRosMessage(LoadOptions());
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srv.request.options = ToRosMessage(LoadOptions());
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srv.request.topics.laser_scan_topic = kLaserScanTopic;
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srv.request.topics.laser_scan_topic =
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srv.request.topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
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ros::names::resolve(kLaserScanTopic, true /* apply topic remapping */);
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srv.request.topics.point_cloud2_topic = kPointCloud2Topic;
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srv.request.topics.multi_echo_laser_scan_topic =
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srv.request.topics.imu_topic = kImuTopic;
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ros::names::resolve(kMultiEchoLaserScanTopic, true);
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srv.request.topics.odometry_topic = kOdometryTopic;
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srv.request.topics.point_cloud2_topic =
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ros::names::resolve(kPointCloud2Topic, true);
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srv.request.topics.imu_topic = ros::names::resolve(kImuTopic, true);
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srv.request.topics.odometry_topic = ros::names::resolve(kOdometryTopic, true);
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if (!client.call(srv)) {
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if (!client.call(srv)) {
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LOG(ERROR) << "Error starting trajectory.";
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LOG(ERROR) << "Error starting trajectory.";
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