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/*
* Copyright 2017 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 "cartographer/mapping/map_builder.h"
#include "cartographer_ros/offline_node.h"
#include "cartographer_ros/ros_log_sink.h"
#include "gflags/gflags.h"
#include "ros/ros.h"
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, true);
::ros::init(argc, argv, "cartographer_offline_node");
::ros::start();
cartographer_ros::ScopedRosLogSink ros_log_sink;
const cartographer_ros::MapBuilderFactory map_builder_factory =
[](const ::cartographer::mapping::proto::MapBuilderOptions&
map_builder_options) {
return absl::make_unique< ::cartographer::mapping::MapBuilder>(
map_builder_options);
};
cartographer_ros::RunOfflineNode(map_builder_factory);
::ros::shutdown();
}