From aaf6bff6f73751951f495bc23094ac7df0b11c36 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Mon, 14 Jan 2019 11:58:14 +0100
Subject: [PATCH 1/3] Don't run final optimization in visualize_pbstream.launch

Replaces the offline node with the normal node.

The problem is that the offline node immediately runs a final
optimization with `visualize_pbstream.lua`, which is most likely not the
configuration that was used to generate the pbstream. This can lead to
effects like distortions in the map e.g. due to different weights, even
though the actual saved state is fine.
---
 cartographer_ros/launch/visualize_pbstream.launch | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/cartographer_ros/launch/visualize_pbstream.launch b/cartographer_ros/launch/visualize_pbstream.launch
index 764f5ff8c..0bed5f9e6 100644
--- a/cartographer_ros/launch/visualize_pbstream.launch
+++ b/cartographer_ros/launch/visualize_pbstream.launch
@@ -17,11 +17,10 @@
 <launch>
   <node name="rviz" pkg="rviz" type="rviz" required="true"
       args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
-  <node name="cartographer_offline_node" pkg="cartographer_ros"
-      type="cartographer_offline_node" args="
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basenames visualize_pbstream.lua
-          -keep_running=true
+          -configuration_basename visualize_pbstream.lua
           -load_state_filename $(arg pbstream_filename)
           -load_frozen_state=false"
       output="screen">

From 5535a1ede9561974d381f3de323658af44577e12 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Mon, 14 Jan 2019 13:58:35 +0100
Subject: [PATCH 2/3] Drop all /echoes or /imu messages.

---
 cartographer_ros/configuration_files/visualize_pbstream.lua | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cartographer_ros/configuration_files/visualize_pbstream.lua b/cartographer_ros/configuration_files/visualize_pbstream.lua
index e941ab126..b51b4d8c4 100644
--- a/cartographer_ros/configuration_files/visualize_pbstream.lua
+++ b/cartographer_ros/configuration_files/visualize_pbstream.lua
@@ -18,4 +18,8 @@ POSE_GRAPH.constraint_builder.sampling_ratio = 0
 POSE_GRAPH.global_sampling_ratio = 0
 POSE_GRAPH.optimize_every_n_nodes = 0
 
+-- In case there are active publishers, drop all sensor data for visualization.
+options.imu_sampling_ratio = 0
+options.rangefinder_sampling_ratio = 0
+
 return options

From d07d56ad8908416ee2323b88c876f9ea22b3c422 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Mon, 14 Jan 2019 16:54:42 +0100
Subject: [PATCH 3/3] Use -start_trajectory_with_default_topics=false

---
 cartographer_ros/configuration_files/visualize_pbstream.lua | 4 ----
 cartographer_ros/launch/visualize_pbstream.launch           | 3 ++-
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/cartographer_ros/configuration_files/visualize_pbstream.lua b/cartographer_ros/configuration_files/visualize_pbstream.lua
index b51b4d8c4..e941ab126 100644
--- a/cartographer_ros/configuration_files/visualize_pbstream.lua
+++ b/cartographer_ros/configuration_files/visualize_pbstream.lua
@@ -18,8 +18,4 @@ POSE_GRAPH.constraint_builder.sampling_ratio = 0
 POSE_GRAPH.global_sampling_ratio = 0
 POSE_GRAPH.optimize_every_n_nodes = 0
 
--- In case there are active publishers, drop all sensor data for visualization.
-options.imu_sampling_ratio = 0
-options.rangefinder_sampling_ratio = 0
-
 return options
diff --git a/cartographer_ros/launch/visualize_pbstream.launch b/cartographer_ros/launch/visualize_pbstream.launch
index 0bed5f9e6..cf5b7e034 100644
--- a/cartographer_ros/launch/visualize_pbstream.launch
+++ b/cartographer_ros/launch/visualize_pbstream.launch
@@ -22,7 +22,8 @@
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename visualize_pbstream.lua
           -load_state_filename $(arg pbstream_filename)
-          -load_frozen_state=false"
+          -load_frozen_state=false
+          -start_trajectory_with_default_topics=false"
       output="screen">
   </node>
 </launch>