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Add --load_frozen_state to node_grpc_main.cc (#973)

master
Michael Grupp 2018-08-29 12:21:47 +02:00 committed by Christoph Schütte
parent 744c03a31f
commit c0e713c404
1 changed files with 3 additions and 1 deletions
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4
cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
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@ -44,6 +44,8 @@ DEFINE_string(
DEFINE_string(load_state_filename, "", DEFINE_string(load_state_filename, "",
"If non-empty, filename of a .pbstream file " "If non-empty, filename of a .pbstream file "
"to load, containing a saved SLAM state."); "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, "", DEFINE_string(client_id, "",
"Cartographer client ID to use when connecting to the server."); "Cartographer client ID to use when connecting to the server.");
@ -65,7 +67,7 @@ void Run() {
FLAGS_collect_metrics); FLAGS_collect_metrics);
if (!FLAGS_load_state_filename.empty()) { 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) { if (FLAGS_start_trajectory_with_default_topics) {