From c0e713c404d3087cec3dbe07e35bd162ce802dc0 Mon Sep 17 00:00:00 2001 From: Michael Grupp Date: Wed, 29 Aug 2018 12:21:47 +0200 Subject: [PATCH] Add --load_frozen_state to node_grpc_main.cc (#973) --- .../cartographer_ros/cartographer_grpc/node_grpc_main.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc index b59573b..34d1cca 100644 --- a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc +++ b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc @@ -44,6 +44,8 @@ DEFINE_string( DEFINE_string(load_state_filename, "", "If non-empty, filename of a .pbstream file " "to load, containing a saved SLAM state."); +DEFINE_bool(load_frozen_state, true, + "Load the saved state as frozen (non-optimized) trajectories."); DEFINE_string(client_id, "", "Cartographer client ID to use when connecting to the server."); @@ -65,7 +67,7 @@ void Run() { FLAGS_collect_metrics); if (!FLAGS_load_state_filename.empty()) { - node.LoadState(FLAGS_load_state_filename, true /* load_frozen_state */); + node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state); } if (FLAGS_start_trajectory_with_default_topics) {