mola-cli now does not need the -c cli flag

MOLAorg · Jan 5, 2024 · e125412 · e125412
1 parent 93c779e
commit e125412
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Showing 8 changed files with 13 additions and 15 deletions.
diff --git a/docs/module-mola-launcher.rst b/docs/module-mola-launcher.rst
@@ -85,7 +85,7 @@ Example: Launching a SLAM system with performance details at end:
 
 .. code-block:: none
 
-  mola-cli -c kitti_lidar_slam.yml -p
+  mola-cli kitti_lidar_slam.yml -p
 
 
 Example: To list all known ICP algorithms:

diff --git a/docs/source/demo-kitti-lidar-slam.rst b/docs/source/demo-kitti-lidar-slam.rst
@@ -14,7 +14,7 @@ Usage
     export KITTI_BASE_DIR=$HOME/dataset-kitti/  # set to your local copy!
 
     cd mola/demos
-    mola-cli -c kitti_lidar_slam.yml -p
+    mola-cli kitti_lidar_slam.yml -p
 
 
 Configuration file, explained

diff --git a/docs/source/demo-pose-graph-g2o-file.rst b/docs/source/demo-pose-graph-g2o-file.rst
@@ -21,7 +21,7 @@ Usage
 .. code-block:: bash
 
     cd mola/demos
-    mola-cli -c pose_graph_g2o_file.yml
+    mola-cli pose_graph_g2o_file.yml
 
 
 

diff --git a/docs/source/demo-rawlog-velodyne-slam.rst b/docs/source/demo-rawlog-velodyne-slam.rst
@@ -17,7 +17,7 @@ Usage
 .. code-block:: bash
 
     cd mola/demos
-    MOLA_INPUT_RAWLOG=map1_test1.rawlog  mola-cli -c rawlog_odom_and_lidar.yml -p
+    MOLA_INPUT_RAWLOG=map1_test1.rawlog  mola-cli rawlog_odom_and_lidar.yml -p
 
 
 .. _sample_rawlog1: https://ingmec.ual.es/datasets/lidar3d-pf-benchmark/map1_test1_cut.rawlog

diff --git a/mola_demos/README.md b/mola_demos/README.md
@@ -9,7 +9,7 @@ Note that there are launch files for both, ROS 2 and standalone builds of MOLA.
 
 ```bash
 # In one terminal
-mola-cli -c  $(ros2 pkg prefix --share mola_demos)/launch/ros2_ouster_just_view.yaml
+mola-cli  $(ros2 pkg prefix --share mola_demos)/launch/ros2_ouster_just_view.yaml
 
 # In another terminal:
 ros2 bag play my_lidar_dataset.mcap

diff --git a/mola_demos/mola-cli-launchs/kitti_just_replay.yaml b/mola_demos/mola-cli-launchs/kitti_just_replay.yaml
@@ -11,7 +11,7 @@ modules:
   - type: mola::KittiOdometryDataset
     name: kitti_input
     execution_rate: 20 # Hz
-    #export_to_rawlog: kitti_${KITTI_SEQ}.rawlog
+    export_to_rawlog: kitti_${KITTI_SEQ}.rawlog
     #verbosity_level: INFO
     gui_preview_sensors:
       - raw_sensor_label: lidar

diff --git a/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml b/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml
@@ -6,13 +6,13 @@
 # Examples of usage:
 # - Use all defaults (will expose all 2D/3D lidars, odometry, imus, etc.).
 #   Visualizer assumes point cloud topic is '/ouster/points':
-#       mola-cli -c src/mola/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml
+#       mola-cli src/mola/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml
 #
 # - RACECAR_DATA dataset:
 #     ROSBAG2_STORAGE_ID=sqlite3 \
 #     POINTCLOUD_TOPIC=/vehicle_8/luminar_front_points \
 #     ROSBAG2_FILE=/mnt/storage/RACECAR_DATA/M-MULTI-SLOW-KAIST.db3 \
-#       mola-cli -c src/mola/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml
+#       mola-cli src/mola/mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml
 #
 # -----------------------------------------------------------------------------
 

diff --git a/mola_launcher/apps/mola-cli.cpp b/mola_launcher/apps/mola-cli.cpp
@@ -30,10 +30,10 @@
 MRPT_TODO("win32: add SetConsoleCtrlHandler");
 
 // Declare supported cli switches ===========
-static TCLAP::CmdLine               cmd("mola-cli");
-static TCLAP::ValueArg<std::string> arg_yaml_cfg(
-    "c", "config", "Input YAML config file (required) (*.yml)", false, "",
-    "demo.yml", cmd);
+static TCLAP::CmdLine                        cmd("mola-cli");
+static TCLAP::UnlabeledValueArg<std::string> arg_yaml_cfg(
+    "config", "Input YAML config file (required) (*.yaml)", false, "",
+    "mola-system.yaml", cmd);
 
 static TCLAP::ValueArg<std::string> arg_verbosity_level(
     "v", "verbosity", "Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)",
@@ -86,9 +86,7 @@ static int mola_cli_launch_slam()
     // Load YAML config file:
     if (!arg_yaml_cfg.isSet())
     {
-        TCLAP::ArgException e(
-            "-c xxx.yaml (or --config xxx.yml) is required to launch a SLAM "
-            "system.");
+        TCLAP::ArgException e("x.yaml is required to launch a SLAM system.");
         cmd.getOutput()->failure(cmd, e);
         return 1;
     }