Use get_default_storage_id

stella-cv · Jun 10, 2023 · 1379315 · 1379315
1 parent f00ffa3
commit 1379315
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Showing 4 changed files with 6 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -130,6 +130,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
+find_package(rosbag2_storage REQUIRED)
 
 # thread library
 find_package(Threads REQUIRED)

diff --git a/package.xml b/package.xml
@@ -33,6 +33,7 @@
     <depend>tf2_msgs</depend>
     <depend>tf2_ros</depend>
     <depend>rosbag2_cpp</depend>
+    <depend>rosbag2_storage</depend>
 
     <export>
         <build_type>ament_cmake</build_type>

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -71,7 +71,8 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
                               tf2_geometry_msgs
                               tf2_msgs
                               tf2_ros
-                              rosbag2_cpp)
+                              rosbag2_cpp
+                              rosbag2_storage)
     install(TARGETS ${EXECUTABLE_TARGET}
             DESTINATION lib/${PROJECT_NAME})
 

diff --git a/src/run_slam_offline.cc b/src/run_slam_offline.cc
@@ -36,6 +36,7 @@ namespace fs = ghc::filesystem;
 #include <rclcpp/serialized_message.hpp>
 #include <rosbag2_cpp/reader.hpp>
 #include <rosbag2_cpp/readers/sequential_reader.hpp>
+#include <rosbag2_storage/default_storage_id.hpp>
 
 void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
               const std::shared_ptr<stella_vslam::config>& cfg,
@@ -267,7 +268,7 @@ int main(int argc, char* argv[]) {
     auto right_topic = op.add<popl::Value<std::string>>("", "right", "right image topic name for stereo", "camera/right/image_raw");
     auto color_topic = op.add<popl::Value<std::string>>("", "color", "color image topic name for RGBD", "camera/color/image_raw");
     auto depth_topic = op.add<popl::Value<std::string>>("", "depth", "depth image topic name for RGBD", "camera/depth/image_raw");
-    auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: sqlite3)", "sqlite3");
+    auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: " + rosbag2_storage::get_default_storage_id() + ")", rosbag2_storage::get_default_storage_id());
     auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");
     auto setting_file_path = op.add<popl::Value<std::string>>("c", "config", "setting file path");
     auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");