12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cartographer_ros/cartographer_ros/node_main.cc
View File

@ -31,6 +31,8 @@ DEFINE_string(map_filename, "", "If non-empty, filename of a map to load.");
DEFINE_bool( DEFINE_bool(
start_trajectory_with_default_topics, true, start_trajectory_with_default_topics, true,
"Enable to immediately start the first trajectory with default topics."); "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 cartographer_ros {
namespace { namespace {
@ -57,6 +59,10 @@ void Run() {
node.FinishAllTrajectories(); node.FinishAllTrajectories();
node.RunFinalOptimization(); node.RunFinalOptimization();
if (!FLAGS_save_map_filename.empty()) {
node.SerializeState(FLAGS_save_map_filename);
}
} }
} // namespace } // namespace