Skip to content

add param to config files, mutex locks, stack size fix #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
ivonaj merged 2 commits into from
Dec 21, 2018
Merged

add param to config files, mutex locks, stack size fix #8

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3ebc058
add to configs, mutex locks, stack size
ivonaj Dec 21, 2018
19d8da8
missing laser frame in config, define STACK max limit
ivonaj Dec 21, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions config/mapper_params_online_async.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ ceres_loss_function: None
odom_frame: odom
map_frame: map
base_frame: base_link
laser_frame: base_laser_link
debug_logging: false
throttle_scans: 1
publish_occupancy_map: true
Expand Down Expand Up @@ -66,3 +67,6 @@ coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

# Load Map Parameters
inverted_laser: true
Copy link
Owner

@SteveMacenski SteveMacenski Dec 21, 2018

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

missing laser frame?

4 changes: 4 additions & 0 deletions config/mapper_params_online_sync.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ ceres_loss_function: None
odom_frame: odom
map_frame: map
base_frame: base_link
laser_frame: base_laser_link
debug_logging: false
throttle_scans: 1
publish_occupancy_map: true
Expand Down Expand Up @@ -66,3 +67,6 @@ coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

# Load Map Parameters
inverted_laser: true
Copy link
Owner

@SteveMacenski SteveMacenski Dec 21, 2018

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

missing laser frame?

1 change: 1 addition & 0 deletions include/slam_toolbox/slam_toolbox.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
#include <queue>
#include <cstdlib>
#include <fstream>
#include <sys/resource.h>

#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
Expand Down
15 changes: 15 additions & 0 deletions src/slam_toolbox.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,11 @@

#include <slam_toolbox/slam_toolbox.hpp>
#include "serialization.cpp"

#define MAX_STACK_SIZE 20000000 // if a system has the stack soft limit set to a smaller value
// than needed for serialization of a large map
// parameter defines enlarged stack limit for process to use

/*****************************************************************************/
SlamToolbox::SlamToolbox() :
transform_thread_(NULL),
Expand Down Expand Up @@ -467,6 +472,7 @@ void SlamToolbox::PublishGraph()
/*****************************************************************************/
{
std::vector<Eigen::Vector2d> graph;
boost::mutex::scoped_lock lock(mapper_mutex_);
solver_->getGraph(graph);

if (graph.size() == 0)
Expand Down Expand Up @@ -1029,6 +1035,7 @@ bool SlamToolbox::SaveMapCallback(slam_toolbox::SaveMap::Request &req,
/*****************************************************************************/
{
std::vector<Eigen::Vector2d> graph;
boost::mutex::scoped_lock lock(mapper_mutex_);
solver_->getGraph(graph);
if (graph.size() == 0)
{
Expand Down Expand Up @@ -1114,6 +1121,7 @@ void SlamToolbox::Run()
scan_w_pose.scan->header.frame_id.c_str());
break;
}

AddScan(laser, scan_w_pose.scan, scan_w_pose.pose);
continue; // no need to sleep if working
}
Expand All @@ -1139,6 +1147,7 @@ bool SlamToolbox::SerializePoseGraphCallback(slam_toolbox::SerializePoseGraph::R
/*****************************************************************************/
{
const std::string filename = req.filename;
boost::mutex::scoped_lock lock(mapper_mutex_);
serialization::Write(filename, mapper_, dataset_);
return true;
}
Expand Down Expand Up @@ -1211,6 +1220,12 @@ int main(int argc, char** argv)
/*****************************************************************************/
{
ros::init(argc, argv, "slam_toolbox");
ros::NodeHandle nh;
const rlim_t max_stack_size = MAX_STACK_SIZE;
struct rlimit stack_limit;
getrlimit(RLIMIT_STACK, &stack_limit);
stack_limit.rlim_cur = max_stack_size;
setrlimit(RLIMIT_STACK, &stack_limit);
SlamToolbox kt;
ros::spin();
return 0;
Expand Down