跟cartographer工程师一起盖房子系列（一）

1-记录日志并打印

LOG(INFO) << "log what you want ";
LOG(ERROR) << "log error and break";
LOG(WARNING) << "log the warning message";

2-CHECK系统

  CHECK(!FLAGS_configuration_directory.empty())
      << "-configuration_directory is missing.";
 //如果为false则打印后面的提示
 F0104 11:49:55.899276 13058 node_main.cc:156] Check failed: !FLAGS_configuration_slam_basename.empty() -FLAGS_configuration_slam_basename is missing.

使用示范，如果初始化glog，具体未深究

int main(int argc, char** argv) {
    
    
  google::InitGoogleLogging(argv[0]);
  google::ParseCommandLineFlags(&argc, &argv, true);
  
  CHECK(!FLAGS_configuration_directory.empty())
      << "-configuration_directory is missing.";
  CHECK(!FLAGS_configuration_slam_basename.empty())
      << "-FLAGS_configuration_slam_basename is missing.";
  CHECK(!FLAGS_configuration_localization_basename.empty())
      << "-FLAGS_configuration_localization_basename is missing.";

  ::ros::init(argc, argv, "cartographer_node");
  ::ros::start();

  cartographer_ros::ScopedRosLogSink ros_log_sink;
  cartographer_ros::Run();
  ::ros::shutdown();
}