Follow googlecartographer/cartographer#839 (#686)
Follow change googlecartographer/cartographer#839 from string to struct SensorId. Compute expected sensor ids for multiple trajectories. Remove command argument input for sensor ids. Make some methods const. Clean up.master
parent
7fc931688c
commit
9a63a0479c
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@ -79,7 +79,8 @@ void MapBuilderBridge::LoadMap(const std::string& map_filename) {
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}
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}
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int MapBuilderBridge::AddTrajectory(
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int MapBuilderBridge::AddTrajectory(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>&
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expected_sensor_ids,
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const TrajectoryOptions& trajectory_options) {
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const TrajectoryOptions& trajectory_options) {
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const int trajectory_id = map_builder_->AddTrajectoryBuilder(
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const int trajectory_id = map_builder_->AddTrajectoryBuilder(
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expected_sensor_ids, trajectory_options.trajectory_builder_options,
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expected_sensor_ids, trajectory_options.trajectory_builder_options,
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@ -18,13 +18,14 @@
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#define CARTOGRAPHER_ROS_MAP_BUILDER_BRIDGE_H_
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#define CARTOGRAPHER_ROS_MAP_BUILDER_BRIDGE_H_
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#include <memory>
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#include <memory>
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#include <set>
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#include <string>
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#include <string>
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#include <unordered_map>
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#include <unordered_map>
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#include <unordered_set>
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#include "cartographer/common/mutex.h"
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#include "cartographer/common/mutex.h"
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer_ros/node_options.h"
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#include "cartographer_ros/node_options.h"
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#include "cartographer_ros/sensor_bridge.h"
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#include "cartographer_ros/sensor_bridge.h"
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#include "cartographer_ros/tf_bridge.h"
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#include "cartographer_ros/tf_bridge.h"
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@ -63,7 +64,10 @@ class MapBuilderBridge {
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MapBuilderBridge& operator=(const MapBuilderBridge&) = delete;
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MapBuilderBridge& operator=(const MapBuilderBridge&) = delete;
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void LoadMap(const std::string& map_filename);
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void LoadMap(const std::string& map_filename);
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int AddTrajectory(const std::unordered_set<std::string>& expected_sensor_ids,
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int AddTrajectory(
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const std::set<
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::cartographer::mapping::TrajectoryBuilderInterface::SensorId>&
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expected_sensor_ids,
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const TrajectoryOptions& trajectory_options);
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const TrajectoryOptions& trajectory_options);
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void FinishTrajectory(int trajectory_id);
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void FinishTrajectory(int trajectory_id);
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void RunFinalOptimization();
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void RunFinalOptimization();
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@ -255,23 +255,26 @@ void Node::PublishConstraintList(
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}
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}
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}
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}
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std::unordered_set<std::string> Node::ComputeExpectedTopics(
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std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
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Node::ComputeExpectedSensorIds(
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const TrajectoryOptions& options,
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const TrajectoryOptions& options,
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const cartographer_ros_msgs::SensorTopics& topics) {
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const cartographer_ros_msgs::SensorTopics& topics) const {
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std::unordered_set<std::string> expected_topics;
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using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
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using SensorType = SensorId::SensorType;
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std::set<SensorId> expected_topics;
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// Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
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// Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
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for (const std::string& topic : ComputeRepeatedTopicNames(
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for (const std::string& topic : ComputeRepeatedTopicNames(
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topics.laser_scan_topic, options.num_laser_scans)) {
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topics.laser_scan_topic, options.num_laser_scans)) {
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expected_topics.insert(topic);
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expected_topics.insert(SensorId{SensorType::RANGE, topic});
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}
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}
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for (const std::string& topic :
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for (const std::string& topic :
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ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
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ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
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options.num_multi_echo_laser_scans)) {
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options.num_multi_echo_laser_scans)) {
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expected_topics.insert(topic);
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expected_topics.insert(SensorId{SensorType::RANGE, topic});
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}
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}
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for (const std::string& topic : ComputeRepeatedTopicNames(
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for (const std::string& topic : ComputeRepeatedTopicNames(
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topics.point_cloud2_topic, options.num_point_clouds)) {
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topics.point_cloud2_topic, options.num_point_clouds)) {
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expected_topics.insert(topic);
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expected_topics.insert(SensorId{SensorType::RANGE, topic});
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}
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}
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// For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
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// For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
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// required.
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// required.
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@ -279,15 +282,17 @@ std::unordered_set<std::string> Node::ComputeExpectedTopics(
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(node_options_.map_builder_options.use_trajectory_builder_2d() &&
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(node_options_.map_builder_options.use_trajectory_builder_2d() &&
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options.trajectory_builder_options.trajectory_builder_2d_options()
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options.trajectory_builder_options.trajectory_builder_2d_options()
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.use_imu_data())) {
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.use_imu_data())) {
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expected_topics.insert(topics.imu_topic);
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expected_topics.insert(SensorId{SensorType::IMU, topics.imu_topic});
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}
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}
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// Odometry is optional.
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// Odometry is optional.
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if (options.use_odometry) {
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if (options.use_odometry) {
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expected_topics.insert(topics.odometry_topic);
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expected_topics.insert(
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SensorId{SensorType::ODOMETRY, topics.odometry_topic});
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}
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}
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// NavSatFix is optional.
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// NavSatFix is optional.
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if (options.use_nav_sat) {
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if (options.use_nav_sat) {
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expected_topics.insert(topics.nav_sat_fix_topic);
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expected_topics.insert(
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SensorId{SensorType::FIXED_FRAME_POSE, topics.nav_sat_fix_topic});
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}
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}
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return expected_topics;
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return expected_topics;
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@ -295,16 +300,17 @@ std::unordered_set<std::string> Node::ComputeExpectedTopics(
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int Node::AddTrajectory(const TrajectoryOptions& options,
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int Node::AddTrajectory(const TrajectoryOptions& options,
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const cartographer_ros_msgs::SensorTopics& topics) {
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const cartographer_ros_msgs::SensorTopics& topics) {
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const std::unordered_set<std::string> expected_sensor_ids =
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const std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
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ComputeExpectedTopics(options, topics);
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expected_sensor_ids = ComputeExpectedSensorIds(options, topics);
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const int trajectory_id =
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const int trajectory_id =
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map_builder_bridge_.AddTrajectory(expected_sensor_ids, options);
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map_builder_bridge_.AddTrajectory(expected_sensor_ids, options);
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AddExtrapolator(trajectory_id, options);
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AddExtrapolator(trajectory_id, options);
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AddSensorSamplers(trajectory_id, options);
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AddSensorSamplers(trajectory_id, options);
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LaunchSubscribers(options, topics, trajectory_id);
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LaunchSubscribers(options, topics, trajectory_id);
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is_active_trajectory_[trajectory_id] = true;
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is_active_trajectory_[trajectory_id] = true;
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subscribed_topics_.insert(expected_sensor_ids.begin(),
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for (const auto& sensor_id : expected_sensor_ids) {
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expected_sensor_ids.end());
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subscribed_topics_.insert(sensor_id.id);
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}
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return trajectory_id;
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return trajectory_id;
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}
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}
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@ -384,7 +390,8 @@ bool Node::ValidateTrajectoryOptions(const TrajectoryOptions& options) {
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bool Node::ValidateTopicNames(
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bool Node::ValidateTopicNames(
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const ::cartographer_ros_msgs::SensorTopics& topics,
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const ::cartographer_ros_msgs::SensorTopics& topics,
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const TrajectoryOptions& options) {
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const TrajectoryOptions& options) {
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for (const std::string& topic : ComputeExpectedTopics(options, topics)) {
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for (const auto& sensor_id : ComputeExpectedSensorIds(options, topics)) {
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const std::string& topic = sensor_id.id;
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if (subscribed_topics_.count(topic) > 0) {
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if (subscribed_topics_.count(topic) > 0) {
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LOG(ERROR) << "Topic name [" << topic << "] is already used.";
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LOG(ERROR) << "Topic name [" << topic << "] is already used.";
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return false;
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return false;
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@ -441,14 +448,30 @@ void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options) {
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AddTrajectory(options, DefaultSensorTopics());
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AddTrajectory(options, DefaultSensorTopics());
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}
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}
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std::unordered_set<std::string> Node::ComputeDefaultTopics(
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std::vector<
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const TrajectoryOptions& options) {
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std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>>
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carto::common::MutexLocker lock(&mutex_);
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Node::ComputeDefaultSensorIdsForMultipleBags(
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return ComputeExpectedTopics(options, DefaultSensorTopics());
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const std::vector<TrajectoryOptions>& bags_options) const {
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using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
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std::vector<std::set<SensorId>> bags_sensor_ids;
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for (size_t i = 0; i < bags_options.size(); ++i) {
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std::string prefix;
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if (bags_options.size() > 1) {
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prefix = "bag_" + std::to_string(i + 1) + "_";
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}
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std::set<SensorId> unique_sensor_ids;
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for (const auto& sensor_id :
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ComputeExpectedSensorIds(bags_options.at(i), DefaultSensorTopics())) {
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unique_sensor_ids.insert(SensorId{sensor_id.type, prefix + sensor_id.id});
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}
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bags_sensor_ids.push_back(unique_sensor_ids);
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}
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return bags_sensor_ids;
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}
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}
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int Node::AddOfflineTrajectory(
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int Node::AddOfflineTrajectory(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>&
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expected_sensor_ids,
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const TrajectoryOptions& options) {
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const TrajectoryOptions& options) {
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carto::common::MutexLocker lock(&mutex_);
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carto::common::MutexLocker lock(&mutex_);
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const int trajectory_id =
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const int trajectory_id =
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@ -19,6 +19,7 @@
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#include <map>
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#include <map>
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#include <memory>
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#include <memory>
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#include <set>
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#include <unordered_map>
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#include <unordered_map>
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#include <unordered_set>
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#include <unordered_set>
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#include <vector>
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#include <vector>
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@ -73,13 +74,19 @@ class Node {
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// Starts the first trajectory with the default topics.
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// Starts the first trajectory with the default topics.
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void StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options);
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void StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options);
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// Compute the default topics for the given 'options'.
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// Returns unique SensorIds for multiple input bag files based on
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std::unordered_set<std::string> ComputeDefaultTopics(
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// their TrajectoryOptions.
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const TrajectoryOptions& options);
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// 'SensorId::id' is the expected ROS topic name.
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std::vector<
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std::set<::cartographer::mapping::TrajectoryBuilderInterface::SensorId>>
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ComputeDefaultSensorIdsForMultipleBags(
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const std::vector<TrajectoryOptions>& bags_options) const;
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// Adds a trajectory for offline processing, i.e. not listening to topics.
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// Adds a trajectory for offline processing, i.e. not listening to topics.
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int AddOfflineTrajectory(
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int AddOfflineTrajectory(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const std::set<
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cartographer::mapping::TrajectoryBuilderInterface::SensorId>&
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expected_sensor_ids,
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const TrajectoryOptions& options);
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const TrajectoryOptions& options);
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// The following functions handle adding sensor data to a trajectory.
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// The following functions handle adding sensor data to a trajectory.
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@ -127,10 +134,12 @@ class Node {
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cartographer_ros_msgs::FinishTrajectory::Response& response);
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cartographer_ros_msgs::FinishTrajectory::Response& response);
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bool HandleWriteState(cartographer_ros_msgs::WriteState::Request& request,
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bool HandleWriteState(cartographer_ros_msgs::WriteState::Request& request,
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cartographer_ros_msgs::WriteState::Response& response);
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cartographer_ros_msgs::WriteState::Response& response);
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// Returns the set of topic names we want to subscribe to.
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// Returns the set of SensorIds expected for a trajectory.
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std::unordered_set<std::string> ComputeExpectedTopics(
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// 'SensorId::id' is the expected ROS topic name.
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std::set<::cartographer::mapping::TrajectoryBuilderInterface::SensorId>
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ComputeExpectedSensorIds(
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const TrajectoryOptions& options,
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const TrajectoryOptions& options,
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const cartographer_ros_msgs::SensorTopics& topics);
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const cartographer_ros_msgs::SensorTopics& topics) const;
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int AddTrajectory(const TrajectoryOptions& options,
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int AddTrajectory(const TrajectoryOptions& options,
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const cartographer_ros_msgs::SensorTopics& topics);
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const cartographer_ros_msgs::SensorTopics& topics);
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void LaunchSubscribers(const TrajectoryOptions& options,
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void LaunchSubscribers(const TrajectoryOptions& options,
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@ -56,15 +56,6 @@ DEFINE_string(pbstream_filename, "",
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DEFINE_bool(keep_running, false,
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DEFINE_bool(keep_running, false,
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"Keep running the offline node after all messages from the bag "
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"Keep running the offline node after all messages from the bag "
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"have been processed.");
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"have been processed.");
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DEFINE_string(sensor_topics, "",
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"Optional comma-separated list of colon-separated lists of "
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"sensor topics for each trajectory. A single trajectory's topics "
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"are delimited with colons, while different trajectories are "
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"delimited with commas. If a blank list is given for a "
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"trajectory, the default topics are used. If a single "
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"colon-separated list is given, it will be used for all "
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"trajectories. If omitted, default topics will be used "
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"for all trajectories.");
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namespace cartographer_ros {
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namespace cartographer_ros {
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},
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},
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false /* oneshot */, false /* autostart */);
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false /* oneshot */, false /* autostart */);
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// Colon-delimited string lists of sensor topics for each bag.
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auto bag_expected_sensor_ids =
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std::vector<std::string> bag_sensor_topics_strings;
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node.ComputeDefaultSensorIdsForMultipleBags(bag_trajectory_options);
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std::map<std::string,
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if (FLAGS_sensor_topics.empty()) {
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cartographer::mapping::TrajectoryBuilderInterface::SensorId>
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// Use default topic names for all bags, denoted by an empty sensor
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bag_topic_to_sensor_id;
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// topic list string for each bag.
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bag_sensor_topics_strings =
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std::vector<std::string>(bag_filenames.size(), std::string());
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} else {
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bag_sensor_topics_strings =
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cartographer_ros::SplitString(FLAGS_sensor_topics, ',');
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if (bag_sensor_topics_strings.size() == 1) {
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// Use the single specified topic list string for all bags.
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bag_sensor_topics_strings.insert(bag_sensor_topics_strings.end(),
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bag_filenames.size() - 1,
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bag_sensor_topics_strings.at(0));
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}
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}
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CHECK_EQ(bag_sensor_topics_strings.size(), bag_filenames.size());
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std::vector<std::unordered_set<std::string>> bag_sensor_topics;
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std::unordered_map<int, int> bag_index_to_trajectory_id;
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PlayableBagMultiplexer playable_bag_multiplexer;
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PlayableBagMultiplexer playable_bag_multiplexer;
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for (size_t current_bag_index = 0; current_bag_index < bag_filenames.size();
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for (size_t current_bag_index = 0; current_bag_index < bag_filenames.size();
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++current_bag_index) {
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++current_bag_index) {
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@ -189,25 +163,21 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
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if (!::ros::ok()) {
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if (!::ros::ok()) {
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return;
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return;
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}
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}
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std::vector<std::string> unresolved_current_bag_sensor_topics;
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if (bag_sensor_topics_strings.at(current_bag_index).empty()) {
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// Empty topic list string provided for this trajectory,
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// use default topics.
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const auto default_topics = node.ComputeDefaultTopics(
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bag_trajectory_options.at(current_bag_index));
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unresolved_current_bag_sensor_topics = std::vector<std::string>(
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default_topics.begin(), default_topics.end());
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} else {
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unresolved_current_bag_sensor_topics = cartographer_ros::SplitString(
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bag_sensor_topics_strings.at(current_bag_index), ':');
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}
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std::unordered_set<std::string> current_bag_sensor_topics;
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std::unordered_set<std::string> current_bag_sensor_topics;
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for (const auto& topic : unresolved_current_bag_sensor_topics) {
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for (const auto& expected_sensor_id :
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CHECK(current_bag_sensor_topics
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bag_expected_sensor_ids.at(current_bag_index)) {
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.insert(node.node_handle()->resolveName(topic))
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std::string resolved_topic =
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.second);
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node.node_handle()->resolveName(expected_sensor_id.id);
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if (bag_topic_to_sensor_id.count(resolved_topic) != 0) {
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LOG(ERROR) << "Sensor " << expected_sensor_id.id
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<< " resolves to topic " << resolved_topic
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<< " which is already used by "
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<< " sensor "
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<< bag_topic_to_sensor_id.at(resolved_topic).id;
|
||||||
|
}
|
||||||
|
bag_topic_to_sensor_id[resolved_topic] = expected_sensor_id;
|
||||||
|
current_bag_sensor_topics.insert(resolved_topic);
|
||||||
}
|
}
|
||||||
bag_sensor_topics.push_back(current_bag_sensor_topics);
|
|
||||||
|
|
||||||
playable_bag_multiplexer.AddPlayableBag(PlayableBag(
|
playable_bag_multiplexer.AddPlayableBag(PlayableBag(
|
||||||
bag_filename, current_bag_index, ros::TIME_MIN, ros::TIME_MAX, kDelay,
|
bag_filename, current_bag_index, ros::TIME_MIN, ros::TIME_MAX, kDelay,
|
||||||
|
@ -243,8 +213,9 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
|
||||||
}
|
}
|
||||||
}));
|
}));
|
||||||
}
|
}
|
||||||
CHECK_EQ(bag_sensor_topics.size(), bag_filenames.size());
|
|
||||||
|
|
||||||
|
// TODO(gaschler): Warn if resolved topics are not in bags.
|
||||||
|
std::unordered_map<int, int> bag_index_to_trajectory_id;
|
||||||
while (playable_bag_multiplexer.IsMessageAvailable()) {
|
while (playable_bag_multiplexer.IsMessageAvailable()) {
|
||||||
const auto next_msg_tuple = playable_bag_multiplexer.GetNextMessage();
|
const auto next_msg_tuple = playable_bag_multiplexer.GetNextMessage();
|
||||||
const rosbag::MessageInstance& msg = std::get<0>(next_msg_tuple);
|
const rosbag::MessageInstance& msg = std::get<0>(next_msg_tuple);
|
||||||
|
@ -256,7 +227,7 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
|
||||||
// to avoid blocking the sensor queue.
|
// to avoid blocking the sensor queue.
|
||||||
if (bag_index_to_trajectory_id.count(bag_index) == 0) {
|
if (bag_index_to_trajectory_id.count(bag_index) == 0) {
|
||||||
trajectory_id =
|
trajectory_id =
|
||||||
node.AddOfflineTrajectory(bag_sensor_topics.at(bag_index),
|
node.AddOfflineTrajectory(bag_expected_sensor_ids.at(bag_index),
|
||||||
bag_trajectory_options.at(bag_index));
|
bag_trajectory_options.at(bag_index));
|
||||||
CHECK(bag_index_to_trajectory_id
|
CHECK(bag_index_to_trajectory_id
|
||||||
.emplace(std::piecewise_construct,
|
.emplace(std::piecewise_construct,
|
||||||
|
@ -272,32 +243,35 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
|
||||||
if (!::ros::ok()) {
|
if (!::ros::ok()) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
const std::string topic =
|
const std::string bag_topic =
|
||||||
node.node_handle()->resolveName(msg.getTopic(), false /* resolve */);
|
node.node_handle()->resolveName(msg.getTopic(), false /* resolve */);
|
||||||
if (bag_sensor_topics.at(bag_index).count(topic) > 0) {
|
auto it = bag_topic_to_sensor_id.find(bag_topic);
|
||||||
|
if (it != bag_topic_to_sensor_id.end()) {
|
||||||
|
const std::string& sensor_id = it->second.id;
|
||||||
if (msg.isType<sensor_msgs::LaserScan>()) {
|
if (msg.isType<sensor_msgs::LaserScan>()) {
|
||||||
node.HandleLaserScanMessage(trajectory_id, topic,
|
node.HandleLaserScanMessage(trajectory_id, sensor_id,
|
||||||
msg.instantiate<sensor_msgs::LaserScan>());
|
msg.instantiate<sensor_msgs::LaserScan>());
|
||||||
}
|
}
|
||||||
if (msg.isType<sensor_msgs::MultiEchoLaserScan>()) {
|
if (msg.isType<sensor_msgs::MultiEchoLaserScan>()) {
|
||||||
node.HandleMultiEchoLaserScanMessage(
|
node.HandleMultiEchoLaserScanMessage(
|
||||||
trajectory_id, topic,
|
trajectory_id, sensor_id,
|
||||||
msg.instantiate<sensor_msgs::MultiEchoLaserScan>());
|
msg.instantiate<sensor_msgs::MultiEchoLaserScan>());
|
||||||
}
|
}
|
||||||
if (msg.isType<sensor_msgs::PointCloud2>()) {
|
if (msg.isType<sensor_msgs::PointCloud2>()) {
|
||||||
node.HandlePointCloud2Message(
|
node.HandlePointCloud2Message(
|
||||||
trajectory_id, topic, msg.instantiate<sensor_msgs::PointCloud2>());
|
trajectory_id, sensor_id,
|
||||||
|
msg.instantiate<sensor_msgs::PointCloud2>());
|
||||||
}
|
}
|
||||||
if (msg.isType<sensor_msgs::Imu>()) {
|
if (msg.isType<sensor_msgs::Imu>()) {
|
||||||
node.HandleImuMessage(trajectory_id, topic,
|
node.HandleImuMessage(trajectory_id, sensor_id,
|
||||||
msg.instantiate<sensor_msgs::Imu>());
|
msg.instantiate<sensor_msgs::Imu>());
|
||||||
}
|
}
|
||||||
if (msg.isType<nav_msgs::Odometry>()) {
|
if (msg.isType<nav_msgs::Odometry>()) {
|
||||||
node.HandleOdometryMessage(trajectory_id, topic,
|
node.HandleOdometryMessage(trajectory_id, sensor_id,
|
||||||
msg.instantiate<nav_msgs::Odometry>());
|
msg.instantiate<nav_msgs::Odometry>());
|
||||||
}
|
}
|
||||||
if (msg.isType<sensor_msgs::NavSatFix>()) {
|
if (msg.isType<sensor_msgs::NavSatFix>()) {
|
||||||
node.HandleNavSatFixMessage(trajectory_id, topic,
|
node.HandleNavSatFixMessage(trajectory_id, sensor_id,
|
||||||
msg.instantiate<sensor_msgs::NavSatFix>());
|
msg.instantiate<sensor_msgs::NavSatFix>());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
Loading…
Reference in New Issue