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

Disable forwarding proto stream by default in node_grpc_main.cc (#1013) 

...and use `LoadStateFromFile` from `MapBuilderStub`. The `LoadState` stub
that's used in `Node::LoadState` streams the state file instead, which can now
be used by explicitly setting the `--upload_load_state_file` flag.

Solves problems with the gRPC message size limit when loading large state files.
master
Michael Grupp 2018-09-13 11:29:26 +02:00 committed by Wally B. Feed
parent c0e713c404
commit c418ff5580
1 changed files with 14 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
View File

@ -33,8 +33,7 @@ DEFINE_string(configuration_basename, "",
"Basename, i.e. not containing any directory prefix, of the " "Basename, i.e. not containing any directory prefix, of the "
"configuration file."); "configuration file.");
DEFINE_string(server_address, "localhost:50051", DEFINE_string(server_address, "localhost:50051",
"gRPC server address to " "gRPC server address to stream the sensor data to.");
"stream the sensor data to.");
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.");
@ -43,9 +42,14 @@ DEFINE_string(
"If non-empty, serialize state and write it to disk before shutting down."); "If non-empty, serialize state and write it to disk before shutting down.");
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. "
"Unless --upload_load_state_file is set, the filepath refers "
"to the gRPC server's file system.");
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_bool(upload_load_state_file, false,
"Upload the .pbstream file from a local path to the (remote) gRPC "
"server instead of loading it from the server file system.");
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.");
@ -63,10 +67,16 @@ void Run() {
auto map_builder = absl::make_unique<::cartographer::cloud::MapBuilderStub>( auto map_builder = absl::make_unique<::cartographer::cloud::MapBuilderStub>(
FLAGS_server_address, FLAGS_client_id); FLAGS_server_address, FLAGS_client_id);
if (!FLAGS_load_state_filename.empty() && !FLAGS_upload_load_state_file) {
map_builder->LoadStateFromFile(FLAGS_load_state_filename,
FLAGS_load_frozen_state);
}
Node node(node_options, std::move(map_builder), &tf_buffer, Node node(node_options, std::move(map_builder), &tf_buffer,
FLAGS_collect_metrics); FLAGS_collect_metrics);
if (!FLAGS_load_state_filename.empty()) { if (!FLAGS_load_state_filename.empty() && FLAGS_upload_load_state_file) {
node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state); node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state);
} }