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Fix crash on Ctrl+C in the offline node. (#230)

master
Wolfgang Hess 2016-12-19 13:38:18 +01:00 committed by GitHub
parent 400d0f28ee
commit 7551d770dc
2 changed files with 13 additions and 7 deletions
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3
cartographer_ros/cartographer_ros/assets_writer_main.cc
View File

@ -60,8 +60,7 @@ namespace {
namespace carto = ::cartographer; namespace carto = ::cartographer;
void HandlePointCloud2Message( void HandlePointCloud2Message(
const sensor_msgs::PointCloud2::ConstPtr& msg, const sensor_msgs::PointCloud2::ConstPtr& msg, const string& tracking_frame,
const string& tracking_frame,
const tf2_ros::Buffer& tf_buffer, const tf2_ros::Buffer& tf_buffer,
const carto::transform::TransformInterpolationBuffer& const carto::transform::TransformInterpolationBuffer&
transform_interpolation_buffer, transform_interpolation_buffer,

17
cartographer_ros/cartographer_ros/offline_node_main.cc
View File

@ -14,6 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include <csignal>
#include <sstream> #include <sstream>
#include <string> #include <string>
#include <vector> #include <vector>
@ -52,6 +53,10 @@ namespace {
constexpr int kLatestOnlyPublisherQueueSize = 1; constexpr int kLatestOnlyPublisherQueueSize = 1;
constexpr char kClockTopic[] = "clock"; constexpr char kClockTopic[] = "clock";
volatile std::sig_atomic_t sigint_triggered = 0;
void SigintHandler(int) { sigint_triggered = 1; }
std::vector<string> SplitString(const string& input, const char delimiter) { std::vector<string> SplitString(const string& input, const char delimiter) {
std::stringstream stream(input); std::stringstream stream(input);
string token; string token;
@ -134,8 +139,8 @@ void Run(std::vector<string> bag_filenames) {
kClockTopic, kLatestOnlyPublisherQueueSize); kClockTopic, kLatestOnlyPublisherQueueSize);
for (const string& bag_filename : bag_filenames) { for (const string& bag_filename : bag_filenames) {
if (!::ros::ok()) { if (sigint_triggered) {
return; break;
} }
const int trajectory_id = node.map_builder_bridge()->AddTrajectory( const int trajectory_id = node.map_builder_bridge()->AddTrajectory(
@ -148,8 +153,8 @@ void Run(std::vector<string> bag_filenames) {
const double duration_in_seconds = (view.getEndTime() - begin_time).toSec(); const double duration_in_seconds = (view.getEndTime() - begin_time).toSec();
for (const rosbag::MessageInstance& msg : view) { for (const rosbag::MessageInstance& msg : view) {
if (!::ros::ok()) { if (sigint_triggered) {
return; break;
} }
// TODO(damonkohler): Republish non-conflicting tf messages. // TODO(damonkohler): Republish non-conflicting tf messages.
@ -219,7 +224,9 @@ int main(int argc, char** argv) {
<< "-configuration_basename is missing."; << "-configuration_basename is missing.";
CHECK(!FLAGS_bag_filenames.empty()) << "-bag_filenames is missing."; CHECK(!FLAGS_bag_filenames.empty()) << "-bag_filenames is missing.";
::ros::init(argc, argv, "cartographer_offline_node"); std::signal(SIGINT, &::cartographer_ros::SigintHandler);
::ros::init(argc, argv, "cartographer_offline_node",
::ros::init_options::NoSigintHandler);
::ros::start(); ::ros::start();
cartographer_ros::ScopedRosLogSink ros_log_sink; cartographer_ros::ScopedRosLogSink ros_log_sink;