navigation_dummy.cc 文件参考

#include "gflags/gflags.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/message_util.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"

navigation_dummy.cc 的引用(Include)关系图:

浏览源代码.

函数
	DEFINE_string (navigation_dummy_file, "modules/map/testdata/navigation_dummy/navigation_info.pb.txt", "Used for sending navigation result to relative_map node.")
int	main (int argc, char **argv)

函数说明

DEFINE_string()

DEFINE_string	(	navigation_dummy_file	,
		"modules/map/testdata/navigation_dummy/navigation_info.pb.txt"	,
		"Used for sending navigation result to relative_map node."
	)

main()

int main	(	int	argc,
		char **	argv
	)

在文件 navigation_dummy.cc 第 33 行定义.

                                {
  google::ParseCommandLineFlags(&argc, &argv, true);
  // Init the cyber framework
  apollo::cyber::Init(argv[0]);
  FLAGS_alsologtostderr = true;
 
  apollo::relative_map::NavigationInfo navigation_info;
  if (!apollo::cyber::common::GetProtoFromFile(FLAGS_navigation_dummy_file,
                                               &navigation_info)) {
    AERROR << "failed to load file: " << FLAGS_navigation_dummy_file;
    return -1;
  }
 
  std::shared_ptr<apollo::cyber::Node> node(
      apollo::cyber::CreateNode("navigation_info"));
  auto writer = node->CreateWriter<apollo::relative_map::NavigationInfo>(
      FLAGS_navigation_topic);
  Rate rate(0.3);
 
  while (apollo::cyber::OK()) {
    apollo::common::util::FillHeader(node->Name(), &navigation_info);
    writer->Write(navigation_info);
    ADEBUG << "Sending navigation info:" << navigation_info.DebugString();
    rate.Sleep();
  }
 
  return 0;
}