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Serialize state before shutdown (#502)

master
Jihoon Lee 2017-09-29 14:44:07 +02:00 committed by Damon Kohler
parent 3fab4ad6b6
commit 92fefe3f7e
1 changed files with 6 additions and 0 deletions
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6
cartographer_ros/cartographer_ros/node_main.cc
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@ -31,6 +31,8 @@ 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.");
DEFINE_string(save_map_filename, "",
"If non-empty, serialize state and write it to disk before shutting down.");
namespace cartographer_ros {
namespace {
@ -57,6 +59,10 @@ void Run() {
node.FinishAllTrajectories();
node.RunFinalOptimization();
if (!FLAGS_save_map_filename.empty()) {
node.SerializeState(FLAGS_save_map_filename);
}
}
} // namespace