From e1774c82a9e1a2ac24b9d2b5d853eae4aa828a3c Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Thu, 29 Mar 2018 15:28:25 +0200
Subject: [PATCH] Launch script to visualize pbstream in rviz (#788)

---
 .../visualize_pbstream.lua                    | 21 ++++++++++++++
 .../launch/visualize_pbstream.launch          | 29 +++++++++++++++++++
 2 files changed, 50 insertions(+)
 create mode 100644 cartographer_ros/configuration_files/visualize_pbstream.lua
 create mode 100644 cartographer_ros/launch/visualize_pbstream.launch

diff --git a/cartographer_ros/configuration_files/visualize_pbstream.lua b/cartographer_ros/configuration_files/visualize_pbstream.lua
new file mode 100644
index 0000000..e941ab1
--- /dev/null
+++ b/cartographer_ros/configuration_files/visualize_pbstream.lua
@@ -0,0 +1,21 @@
+-- Copyright 2018 The Cartographer Authors
+--
+-- Licensed under the Apache License, Version 2.0 (the "License");
+-- you may not use this file except in compliance with the License.
+-- You may obtain a copy of the License at
+--
+--      http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+
+include "backpack_2d.lua"
+
+POSE_GRAPH.constraint_builder.sampling_ratio = 0
+POSE_GRAPH.global_sampling_ratio = 0
+POSE_GRAPH.optimize_every_n_nodes = 0
+
+return options
diff --git a/cartographer_ros/launch/visualize_pbstream.launch b/cartographer_ros/launch/visualize_pbstream.launch
new file mode 100644
index 0000000..c4d12e1
--- /dev/null
+++ b/cartographer_ros/launch/visualize_pbstream.launch
@@ -0,0 +1,29 @@
+<!--
+  Copyright 2018 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+  <node name="cartographer_offline_node" pkg="cartographer_ros"
+      type="cartographer_offline_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basenames visualize_pbstream.lua
+          -keep_running true
+          -load_state_filename $(arg pbstream_filename)
+          -load_frozen_state false"
+      output="screen">
+  </node>
+</launch>