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support map loading in offline node (#411) 

* support map loading in offline node

* support map loading in offline node

* offline_node_main.cc

add todo to replace loadmap later

* rename map_filename to pbstream filename
master
Jihoon Lee 2017-07-06 15:57:32 +02:00 committed by Wolfgang Hess
parent 85a99fdb80
commit 6b1e9fb55c
1 changed files with 7 additions and 0 deletions
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7
cartographer_ros/cartographer_ros/offline_node_main.cc
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@ -50,6 +50,8 @@ DEFINE_string(
"URDF file that contains static links for your sensor configuration."); "URDF file that contains static links for your sensor configuration.");
DEFINE_bool(use_bag_transforms, true, DEFINE_bool(use_bag_transforms, true,
"Whether to read, use and republish the transforms from the bag."); "Whether to read, use and republish the transforms from the bag.");
DEFINE_string(pbstream_filename, "",
"If non-empty, filename of a pbstream to load.");
namespace cartographer_ros { namespace cartographer_ros {
namespace { namespace {
@ -98,6 +100,11 @@ void Run(const std::vector<string>& bag_filenames) {
// remaining sensor data that cannot be transformed due to missing transforms. // remaining sensor data that cannot be transformed due to missing transforms.
node_options.lookup_transform_timeout_sec = 0.; node_options.lookup_transform_timeout_sec = 0.;
Node node(node_options, &tf_buffer); Node node(node_options, &tf_buffer);
if (!FLAGS_pbstream_filename.empty()) {
// TODO(jihoonl): LoadMap should be replaced by some better deserialization
// of full SLAM state as non-frozen trajectories once possible
node.LoadMap(FLAGS_pbstream_filename);
}
std::unordered_set<string> expected_sensor_ids; std::unordered_set<string> expected_sensor_ids;
const auto check_insert = [&expected_sensor_ids, &node](const string& topic) { const auto check_insert = [&expected_sensor_ids, &node](const string& topic) {