offline_node.cc File Reference

#include "cartographer_ros/offline_node.h"
#include <errno.h>
#include <string.h>
#include <sys/resource.h>
#include <time.h>
#include <chrono>
#include "cartographer_ros/node.h"
#include "cartographer_ros/playable_bag.h"
#include "cartographer_ros/split_string.h"
#include "cartographer_ros/urdf_reader.h"
#include "gflags/gflags.h"
#include "ros/callback_queue.h"
#include "rosgraph_msgs/Clock.h"
#include "tf2_ros/static_transform_broadcaster.h"
#include "urdf/model.h"

Include dependency graph for offline_node.cc:

Go to the source code of this file.

Namespaces
	cartographer_ros

Functions
	DEFINE_bool (use_bag_transforms, true, "Whether to read, use and republish transforms from bags.")
	DEFINE_bool (load_frozen_state, true, "Load the saved state as frozen (non-optimized) trajectories.")
	DEFINE_bool (keep_running, false, "Keep running the offline node after all messages from the bag " "have been processed.")
	DEFINE_double (skip_seconds, 0, "Optional amount of seconds to skip from the beginning " "(i.e. when the earliest bag starts.). ")
	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_basenames, "", "Comma-separated list of basenames, i.e. not containing any " "directory prefix, of the configuration files for each trajectory. " "The first configuration file will be used for node options. " "If less configuration files are specified than trajectories, the " "first file will be used the remaining trajectories.")
	DEFINE_string (bag_filenames, "", "Comma-separated list of bags to process. One bag per trajectory. " "Any combination of simultaneous and sequential bags is supported.")
	DEFINE_string (urdf_filenames, "", "Comma-separated list of one or more URDF files that contain " "static links for the sensor configuration(s).")
	DEFINE_string (load_state_filename, "", "If non-empty, filename of a .pbstream file to load, containing " "a saved SLAM state.")
void	cartographer_ros::RunOfflineNode (const MapBuilderFactory &map_builder_factory)

Variables
constexpr double	cartographer_ros::kClockPublishFrequencySec = 1. / 30.
constexpr char	cartographer_ros::kClockTopic [] = "clock"
const ::ros::Duration	cartographer_ros::kDelay = ::ros::Duration(1.0)
constexpr int	cartographer_ros::kSingleThreaded = 1
constexpr char	cartographer_ros::kTfStaticTopic [] = "/tf_static"
constexpr char	cartographer_ros::kTfTopic [] = "tf"

Function Documentation

DEFINE_bool() [1/3]

DEFINE_bool	(	use_bag_transforms	,
		true	,
		"Whether to	read,
		use and republish transforms from bags."
	)

DEFINE_bool() [2/3]

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

DEFINE_bool() [3/3]

DEFINE_bool	(	keep_running	,
		false	,
		"Keep running the offline node after all messages from the bag " "have been processed."
	)

DEFINE_double()

DEFINE_double	(	skip_seconds	,
		0	,
		"Optional amount of seconds to skip from the beginning " "(i.e. when the earliest bag starts.). "
	)

DEFINE_string() [1/5]

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() [2/5]

DEFINE_string	(	configuration_basenames	,
		""	,
		"Comma-separated list of	basenames,
		i.e. not containing any " "directory	prefix,
		of the configuration files for each trajectory. " "The first configuration file will be used for node options. " "If less configuration files are specified than	trajectories,
		the " "first file will be used the remaining trajectories."
	)

DEFINE_string() [3/5]

DEFINE_string	(	bag_filenames	,
		""	,
		"Comma-separated list of bags to process. One bag per trajectory. " "Any combination of simultaneous and sequential bags is supported."
	)

DEFINE_string() [4/5]

DEFINE_string	(	urdf_filenames	,
		""	,
		"Comma-separated list of one or more URDF files that contain " "static links for the sensor configuration(s)."
	)

DEFINE_string() [5/5]

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