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cartographer_grpc_server的源码
source link: https://charon-cheung.github.io/2022/08/21/%E6%BF%80%E5%85%89SLAM/Cartographer/%E5%8E%9F%E7%90%86%E5%92%8C%E9%85%8D%E7%BD%AE/cartographer_grpc_server%E7%9A%84%E6%BA%90%E7%A0%81/
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cartographer_grpc_server的源码 | 沉默杀手
cartographer_grpc_server的源码
node_grpc_main.cc中的关键一句:
auto map_builder = absl::make_unique<::cartographer::cloud::MapBuilderStub>(
FLAGS_server_address, FLAGS_client_id);
接着看map_builder_stub.cc的构造函数
MapBuilderStub::MapBuilderStub(const std::string& server_address,
const std::string& client_id)
: client_channel_(::grpc::CreateChannel(
server_address, ::grpc::InsecureChannelCredentials())),
pose_graph_stub_(make_unique<PoseGraphStub>(client_channel_, client_id)),
client_id_(client_id)
{
LOG(INFO) << "Connecting to SLAM process at " << server_address
<< " with client_id " << client_id;
std::chrono::system_clock::time_point deadline(
std::chrono::system_clock::now() +
std::chrono::seconds(kChannelTimeoutSeconds));
if (!client_channel_->WaitForConnected(deadline)) {
LOG(FATAL) << "Failed to connect to " << server_address;
}
}
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