node_main.cc File Reference

#include "absl/memory/memory.h"
#include "cartographer/mapping/map_builder.h"
#include "cartographer_ros/node.h"
#include "cartographer_ros/node_options.h"
#include "cartographer_ros/ros_log_sink.h"
#include "gflags/gflags.h"
#include "tf2_ros/transform_listener.h"

Include dependency graph for node_main.cc:

Go to the source code of this file.

Namespaces
namespace	cartographer_ros
Functions
	DEFINE_bool (collect_metrics, false,"Activates the collection of runtime metrics. If activated, the ""metrics can be accessed via a ROS service.")
	DEFINE_bool (load_frozen_state, true,"Load the saved state as frozen (non-optimized) trajectories.")
	DEFINE_bool (start_trajectory_with_default_topics, true,"Enable to immediately start the first trajectory with default topics.")
	DEFINE_string (configuration_directory,"","First directory in which configuration files are searched, ""second is always the Cartographer installation to allow ""including files from there.")
	DEFINE_string (configuration_basename,"","Basename, i.e. not containing any directory prefix, of the ""configuration file.")
	DEFINE_string (load_state_filename,"","If non-empty, filename of a .pbstream file to load, containing ""a saved SLAM state.")
	DEFINE_string (save_state_filename,"","If non-empty, serialize state and write it to disk before shutting down.")
int	main (int argc, char **argv)

---

Function Documentation

DEFINE_bool	(	collect_metrics	,
		false	,
		"Activates the collection of runtime metrics. If	activated,
		the""metrics can be accessed via a ROS service."
	)

DEFINE_bool	(	load_frozen_state	,
		true	,
		"Load the saved state as frozen (non-optimized) trajectories."
	)

DEFINE_bool	(	start_trajectory_with_default_topics	,
		true	,
		"Enable to immediately start the first trajectory with default topics."
	)

DEFINE_string	(	configuration_directory	,
		""	,
		"First directory in which configuration files are	searched,
		""second is always the Cartographer installation to allow""including files from there."
	)

DEFINE_string	(	configuration_basename	,
		""	,
		"	Basename,
		i.e.not containing any directory	prefix,
		of the""configuration file."
	)

DEFINE_string	(	load_state_filename	,
		""	,
		"If non-	empty,
		filename of a.pbstream file to	load,
		containing""a saved SLAM state."
	)

DEFINE_string	(	save_state_filename	,
		""	,
		"If non-	empty,
		serialize state and write it to disk before shutting down."
	)

int main	(	int	argc,
		char **	argv
	)

Definition at line 85 of file node_main.cc.