Rename "nodes list" to "node list". (#402)

cartographer_ros/cartographer_ros/assets_writer.cc

@@ -67,19 +67,16 @@ void Write3DAssets(
 
   carto::io::NullPointsProcessor null_points_processor;
   carto::io::XRayPointsProcessor xy_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
       {}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
   carto::io::XRayPointsProcessor yz_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
       {}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
   carto::io::XRayPointsProcessor xz_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
       {}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
   carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
       file_writer_factory(stem + ".ply"), &xz_xray_points_processor);

cartographer_ros/cartographer_ros/map_builder_bridge.cc

@@ -203,8 +203,8 @@ MapBuilderBridge::GetTrajectoryStates() {
   return trajectory_states;
 }
 
-visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodesList() {
-  visualization_msgs::MarkerArray trajectory_nodes_list;
+visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
+  visualization_msgs::MarkerArray trajectory_node_list;
   const auto all_trajectory_nodes =
       map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
   int marker_id = 0;
@@ -230,16 +230,16 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodesList() {
       // Work around the 16384 point limit in rviz by splitting the
       // trajectory into multiple markers.
       if (marker.points.size() == 16384) {
-        trajectory_nodes_list.markers.push_back(marker);
+        trajectory_node_list.markers.push_back(marker);
         marker.id = marker_id++;
         marker.points.clear();
         // Push back the last point, so the two markers appear connected.
         marker.points.push_back(node_point);
       }
     }
-    trajectory_nodes_list.markers.push_back(marker);
+    trajectory_node_list.markers.push_back(marker);
   }
-  return trajectory_nodes_list;
+  return trajectory_node_list;
 }
 
 SensorBridge* MapBuilderBridge::sensor_bridge(const int trajectory_id) {

cartographer_ros/cartographer_ros/map_builder_bridge.h

@@ -62,7 +62,7 @@ class MapBuilderBridge {
   cartographer_ros_msgs::SubmapList GetSubmapList();
   std::unique_ptr<nav_msgs::OccupancyGrid> BuildOccupancyGrid();
   std::unordered_map<int, TrajectoryState> GetTrajectoryStates();
-  visualization_msgs::MarkerArray GetTrajectoryNodesList();
+  visualization_msgs::MarkerArray GetTrajectoryNodeList();
 
   SensorBridge* sensor_bridge(int trajectory_id);
 

cartographer_ros/cartographer_ros/node.cc

@@ -85,9 +85,9 @@ Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
   submap_list_publisher_ =
       node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
           kSubmapListTopic, kLatestOnlyPublisherQueueSize);
-  trajectory_nodes_list_publisher_ =
+  trajectory_node_list_publisher_ =
       node_handle_.advertise<::visualization_msgs::MarkerArray>(
-          kTrajectoryNodesListTopic, kLatestOnlyPublisherQueueSize);
+          kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
   service_servers_.push_back(node_handle_.advertiseService(
       kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
   service_servers_.push_back(node_handle_.advertiseService(
@@ -118,7 +118,7 @@ Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
       &Node::PublishTrajectoryStates, this));
   wall_timers_.push_back(node_handle_.createWallTimer(
       ::ros::WallDuration(node_options_.trajectory_publish_period_sec),
-      &Node::PublishTrajectoryNodesList, this));
+      &Node::PublishTrajectoryNodeList, this));
 }
 
 Node::~Node() {
@@ -208,12 +208,12 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
   }
 }
 
-void Node::PublishTrajectoryNodesList(
+void Node::PublishTrajectoryNodeList(
     const ::ros::WallTimerEvent& unused_timer_event) {
   carto::common::MutexLocker lock(&mutex_);
-  if (trajectory_nodes_list_publisher_.getNumSubscribers() > 0) {
-    trajectory_nodes_list_publisher_.publish(
-        map_builder_bridge_.GetTrajectoryNodesList());
+  if (trajectory_node_list_publisher_.getNumSubscribers() > 0) {
+    trajectory_node_list_publisher_.publish(
+        map_builder_bridge_.GetTrajectoryNodeList());
   }
 }
 

cartographer_ros/cartographer_ros/node.h

@@ -76,7 +76,7 @@ class Node {
                          int trajectory_id);
   void PublishSubmapList(const ::ros::WallTimerEvent& timer_event);
   void PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event);
-  void PublishTrajectoryNodesList(const ::ros::WallTimerEvent& timer_event);
+  void PublishTrajectoryNodeList(const ::ros::WallTimerEvent& timer_event);
   void SpinOccupancyGridThreadForever();
   bool ValidateTrajectoryOptions(const TrajectoryOptions& options);
   bool ValidateTopicName(const ::cartographer_ros_msgs::SensorTopics& topics,
@@ -91,7 +91,7 @@ class Node {
 
   ::ros::NodeHandle node_handle_;
   ::ros::Publisher submap_list_publisher_;
-  ::ros::Publisher trajectory_nodes_list_publisher_;
+  ::ros::Publisher trajectory_node_list_publisher_;
   // These ros::ServiceServers need to live for the lifetime of the node.
   std::vector<::ros::ServiceServer> service_servers_;
   ::ros::Publisher scan_matched_point_cloud_publisher_;

cartographer_ros/cartographer_ros/node_constants.h

@@ -32,7 +32,7 @@ constexpr char kSubmapListTopic[] = "submap_list";
 constexpr char kSubmapQueryServiceName[] = "submap_query";
 constexpr char kStartTrajectoryServiceName[] = "start_trajectory";
 constexpr char kWriteAssetsServiceName[] = "write_assets";
-constexpr char kTrajectoryNodesListTopic[] = "trajectory_nodes_list";
+constexpr char kTrajectoryNodeListTopic[] = "trajectory_node_list";
 
 }  // namespace cartographer_ros
 

cartographer_ros/configuration_files/demo_2d.rviz

@@ -172,7 +172,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/MarkerArray
       Enabled: true
-      Marker Topic: /trajectory_nodes_list
+      Marker Topic: /trajectory_node_list
       Name: MarkerArray
       Namespaces:
         "": true

cartographer_ros/configuration_files/demo_3d.rviz

@@ -234,7 +234,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/MarkerArray
       Enabled: true
-      Marker Topic: /trajectory_nodes_list
+      Marker Topic: /trajectory_node_list
       Name: MarkerArray
       Namespaces:
         "": true