Simultaneous offline multi trajectories (ros#636)

RFC=[0009](cartographer-project/rfcs#4)
cwecht · Jan 24, 2018 · d65f3c0 · d65f3c0
1 parent d96aa21
commit d65f3c0
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Showing 7 changed files with 427 additions and 122 deletions.
diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -257,8 +257,7 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetConstraintList() {
   visualization_msgs::Marker residual_inter_same_trajectory_marker =
       constraint_intra_marker;
   residual_inter_same_trajectory_marker.id = marker_id++;
-  residual_inter_same_trajectory_marker.ns =
-      "Inter residuals, same trajectory";
+  residual_inter_same_trajectory_marker.ns = "Inter residuals, same trajectory";
   residual_inter_same_trajectory_marker.pose.position.z = 0.1;
 
   visualization_msgs::Marker constraint_inter_diff_trajectory_marker =
@@ -309,7 +308,7 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetConstraintList() {
         // Bright orange
         color_constraint.a = 1.0;
         color_constraint.r = 1.0;
-        color_constraint.g = 165./255.;
+        color_constraint.g = 165. / 255.;
       }
       // Bright cyan
       color_residual.a = 1.0;

diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
@@ -122,7 +122,7 @@ Node::Node(
       &Node::PublishConstraintList, this));
 }
 
-Node::~Node() {}
+Node::~Node() { FinishAllTrajectories(); }
 
 ::ros::NodeHandle* Node::node_handle() { return &node_handle_; }