node_main.cc
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #include <string>
18 #include <vector>
19 
24 #include "cartographer_ros/node.h"
27 #include "gflags/gflags.h"
29 
30 DEFINE_string(configuration_directory, "",
31  "First directory in which configuration files are searched, "
32  "second is always the Cartographer installation to allow "
33  "including files from there.");
34 DEFINE_string(configuration_basename, "",
35  "Basename, i.e. not containing any directory prefix, of the "
36  "configuration file.");
37 
38 namespace cartographer_ros {
39 namespace {
40 
41 std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
42  auto file_resolver = cartographer::common::make_unique<
44  std::vector<string>{FLAGS_configuration_directory});
45  const string code =
46  file_resolver->GetFileContentOrDie(FLAGS_configuration_basename);
47  cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
48  code, std::move(file_resolver));
49 
50  return std::make_tuple(CreateNodeOptions(&lua_parameter_dictionary),
51  CreateTrajectoryOptions(&lua_parameter_dictionary));
52 }
53 
54 void Run() {
55  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
56  tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
57  tf2_ros::TransformListener tf(tf_buffer);
58  NodeOptions node_options;
59  TrajectoryOptions trajectory_options;
60  std::tie(node_options, trajectory_options) = LoadOptions();
61 
62  Node node(node_options, &tf_buffer);
63  node.StartTrajectoryWithDefaultTopics(trajectory_options);
64 
65  ::ros::spin();
66 
67  node.FinishAllTrajectories();
68 }
69 
70 } // namespace
71 } // namespace cartographer_ros
72 
73 int main(int argc, char** argv) {
74  google::InitGoogleLogging(argv[0]);
75  google::ParseCommandLineFlags(&argc, &argv, true);
76 
77  CHECK(!FLAGS_configuration_directory.empty())
78  << "-configuration_directory is missing.";
79  CHECK(!FLAGS_configuration_basename.empty())
80  << "-configuration_basename is missing.";
81 
82  ::ros::init(argc, argv, "cartographer_node");
83  ::ros::start();
84 
86  cartographer_ros::Run();
87  ::ros::shutdown();
88 }
int main(int argc, char **argv)
Definition: node_main.cc:73
NodeOptions CreateNodeOptions(::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
Definition: node_options.cc:23
std::string GetFileContentOrDie(const std::string &basename) override
TrajectoryOptions CreateTrajectoryOptions(::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
DEFINE_string(configuration_directory,"","First directory in which configuration files are searched, ""second is always the Cartographer installation to allow ""including files from there.")
void Run(const std::string &configuration_directory, const std::string &configuration_basename)
tf2_ros::Buffer * tf_buffer
_Unique_if< T >::_Single_object make_unique(Args &&...args)


cartographer_ros
Author(s):
autogenerated on Mon Jun 10 2019 12:59:40