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Add explicit --save_state_filename to offline node options. (#1204) 

This allows to serialize the state also when no bagfile is given, e.g.
when the offline node is used to run an optimization and/or trimming
configuration on a pbstream. Or simply when one wants to use a custom
name directly. This doesn't break compatibility with the previous CLI.
master
Michael Grupp 2019-04-17 14:46:58 +02:00 committed by Wally B. Feed
parent 2d9b751d51
commit 9f8bf5b245
1 changed files with 13 additions and 4 deletions
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17
cartographer_ros/cartographer_ros/offline_node.cc
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@ -63,6 +63,11 @@ DEFINE_string(load_state_filename, "",
"a saved SLAM state."); "a saved SLAM state.");
DEFINE_bool(load_frozen_state, true, DEFINE_bool(load_frozen_state, true,
"Load the saved state as frozen (non-optimized) trajectories."); "Load the saved state as frozen (non-optimized) trajectories.");
DEFINE_string(save_state_filename, "",
"Explicit name of the file to which the serialized state will be "
"written before shutdown. If left empty, the filename will be "
"inferred from the first bagfile's name as: "
"<bag_filenames[0]>.pbstream");
DEFINE_bool(keep_running, false, DEFINE_bool(keep_running, false,
"Keep running the offline node after all messages from the bag " "Keep running the offline node after all messages from the bag "
"have been processed."); "have been processed.");
@ -371,15 +376,19 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
LOG(INFO) << "Peak memory usage: " << usage.ru_maxrss << " KiB"; LOG(INFO) << "Peak memory usage: " << usage.ru_maxrss << " KiB";
#endif #endif
if (::ros::ok() && bag_filenames.size() > 0) { // Serialize unless we have neither a bagfile nor an explicit state filename.
const std::string output_filename = bag_filenames.front(); if (::ros::ok() &&
const std::string suffix = ".pbstream"; !(bag_filenames.empty() && FLAGS_save_state_filename.empty())) {
const std::string state_output_filename = output_filename + suffix; const std::string state_output_filename =
FLAGS_save_state_filename.empty()
? absl::StrCat(bag_filenames.front(), ".pbstream")
: FLAGS_save_state_filename;
LOG(INFO) << "Writing state to '" << state_output_filename << "'..."; LOG(INFO) << "Writing state to '" << state_output_filename << "'...";
node.SerializeState(state_output_filename, node.SerializeState(state_output_filename,
true /* include_unfinished_submaps */); true /* include_unfinished_submaps */);
} }
if (FLAGS_keep_running) { if (FLAGS_keep_running) {
LOG(INFO) << "Finished processing and waiting for shutdown.";
::ros::waitForShutdown(); ::ros::waitForShutdown();
} }
} }